MTG driver APIs. More...

Data Structures
struct	mtg_result
	define the struct of mtg lock values More...

struct	mtg_event_param
	define the struct of the event setup parameter More...

struct	mtg_tra_limit_param

struct	mtg_hardware_force_one_way_mode
	define the struct of the hardware force one way mode More...

struct	mtg_filter_param

struct	mtg_time_init_param
	define the struct of the trajectory predictor time initialization More...

struct	mtg_timeout_param
	define the struct of the trajectory predictor timeout More...

struct	mtg_tra_shift
	define the struct of the trajectory shift struct More...

struct	mtg_tra_cmd_cfg
	define the struct of the trajectory predictor command More...

Typedefs
typedef struct mtg_result	mtg_lock_value_t
	define the struct of mtg lock values More...

typedef enum mtg_evnet_object_postion	mtg_evnet_object_postion_t
	define the enum of the postion of the observed object More...

typedef enum mtg_event_object	mtg_event_object_t
	define the enum of the observed object More...

typedef enum mtg_event_mode	mtg_event_mode_t
	define the enum of the event detection mode More...

typedef enum mtg_event_dir	mtg_event_dir_t
	define the enum of the event detection direction More...

typedef enum mtg_event_dir_mode	mtg_event_dir_mode_t
	define the enum of the event detection direction calculation mode More...

typedef enum mtg_event_over_mode_cmp	mtg_event_over_mode_cmp_t
	define the enum of the event detection over protect mode More...

typedef enum mtg_event_trig_num	mtg_event_trig_num_t
	define the enum of the event trigger number More...

typedef struct mtg_event_param	mtg_event_param_t
	define the struct of the event setup parameter More...

typedef struct mtg_tra_limit_param	mtg_tra_limit_param_t

typedef enum mtg_software_force_one_way_mode	mtg_software_force_one_way_mode_t
	define the enum of the software force one way mode More...

typedef enum vel_one_way_mode	vel_one_way_mode_t
	define the enum of the hardware force one way mode More...

typedef struct mtg_hardware_force_one_way_mode	mtg_hardware_force_one_way_mode_t
	define the struct of the hardware force one way mode More...

typedef enum mtg_filter_rev_init_mode	mtg_filter_rev_init_mode_t
	define the enum of the filter initialization mode More...

typedef enum mtg_filter_rev_judge_mode	mtg_filter_rev_judge_mode_t
	define the enum of the filter judge mode It affects the judgment conditions for changes in the number of revolution More...

typedef enum mtg_filter_ff_mode	mtg_filter_ff_mode_t
	define the enum of the filter ff mode More...

typedef struct mtg_filter_param	mtg_filter_param_t

typedef enum mtg_time_input_source	mtg_time_input_source_t
	define the enum of the trajectory predictor time input source More...

typedef struct mtg_time_init_param	mtg_time_init_param_t
	define the struct of the trajectory predictor time initialization More...

typedef struct mtg_timeout_param	mtg_timeout_param_t
	define the struct of the trajectory predictor timeout More...

typedef enum mtg_link_cfg	mtg_link_cfg_t
	define the enum of the trajectory predictor link event link the trigger source and the cmd object, it describes the trigger source More...

typedef struct mtg_tra_shift	mtg_tra_shift_t
	define the struct of the trajectory shift struct More...

typedef struct mtg_tra_cmd_cfg	mtg_tra_cmd_cfg_t
	define the struct of the trajectory predictor command More...

typedef enum mtg_irq_enable	mtg_irq_enable_t

typedef struct mtg_result	mtg_lock_value_t
	define the struct of mtg lock values More...

typedef enum mtg_evnet_object_postion	mtg_evnet_object_postion_t
	define the enum of the postion of the observed object More...

typedef enum mtg_event_object	mtg_event_object_t
	define the enum of the observed object More...

typedef enum mtg_event_mode	mtg_event_mode_t
	define the enum of the event detection mode More...

typedef enum mtg_event_dir	mtg_event_dir_t
	define the enum of the event detection direction More...

typedef enum mtg_event_dir_mode	mtg_event_dir_mode_t
	define the enum of the event detection direction calculation mode More...

typedef enum mtg_event_over_mode_cmp	mtg_event_over_mode_cmp_t
	define the enum of the event detection over protect mode More...

typedef enum mtg_event_trig_num	mtg_event_trig_num_t
	define the enum of the event trigger number More...

typedef struct mtg_event_param	mtg_event_param_t
	define the struct of the event setup parameter More...

typedef struct mtg_tra_limit_param	mtg_tra_limit_param_t

typedef enum mtg_software_force_one_way_mode	mtg_software_force_one_way_mode_t
	define the enum of the software force one way mode More...

typedef enum vel_one_way_mode	vel_one_way_mode_t
	define the enum of the hardware force one way mode More...

typedef struct mtg_hardware_force_one_way_mode	mtg_hardware_force_one_way_mode_t
	define the struct of the hardware force one way mode More...

typedef enum mtg_filter_ff_mode	mtg_filter_ff_mode_t
	define the enum of the filter ff mode More...

typedef enum mtg_filter_first_load_mode	mtg_filter_first_load_mode_t
	define the enum of the filter first load mode More...

typedef enum mtg_filter_err_bypass_mode	mtg_filter_err_bypass_mode_t
	define the enum of the filter first load mode More...

typedef struct mtg_filter_param	mtg_filter_param_t

typedef enum mtg_time_input_source	mtg_time_input_source_t
	define the enum of the trajectory predictor time input source More...

typedef struct mtg_time_init_param	mtg_time_init_param_t
	define the struct of the trajectory predictor time initialization More...

typedef struct mtg_timeout_param	mtg_timeout_param_t
	define the struct of the trajectory predictor timeout More...

typedef enum mtg_link_cfg	mtg_link_cfg_t
	define the enum of the trajectory predictor link event link the trigger source and the cmd object, it describes the trigger source More...

typedef struct mtg_tra_shift	mtg_tra_shift_t
	define the struct of the trajectory shift struct More...

typedef struct mtg_tra_cmd_cfg	mtg_tra_cmd_cfg_t
	define the struct of the trajectory predictor command More...

Enumerations
enum	mtg_evnet_object_postion { event_source_before_filter = 1 << 0 , event_source_filter_output = 1 << 1 , event_source_tra0_output = 1 << 2 , event_source_tra1_output = 1 << 3 , event_source_before_filter = 1 << 0 , event_source_filter_output = 1 << 1 , event_source_tra0_output = 1 << 2 , event_source_tra1_output = 1 << 3 }
	define the enum of the postion of the observed object More...

enum	mtg_event_object { event_object_rev_pos = 1 , event_object_vel = 2 , event_object_acc = 4 , event_object_pos = 8 , event_object_rev_pos = 1 , event_object_vel = 2 , event_object_acc = 4 , event_object_pos = 8 }
	define the enum of the observed object More...

enum	mtg_event_mode { event_mode_across = 1 , event_mode_hold = 2 , event_mode_over_protect = 4 , event_mode_time_match = 8 , event_mode_across = 1 , event_mode_hold = 2 , event_mode_over_protect = 4 , event_mode_time_match = 8 }
	define the enum of the event detection mode More...

enum	mtg_event_dir { event_dir_negative = 0 , event_dir_positive = 1 , event_dir_both = 2 , event_dir_negative = 0 , event_dir_positive = 1 , event_dir_both = 2 }
	define the enum of the event detection direction More...

enum	mtg_event_dir_mode { event_dir_mode_dy = 0 , event_dir_mode_y1_y0 = 1 , event_dir_mode_dy = 0 , event_dir_mode_y1_y0 = 1 }
	define the enum of the event detection direction calculation mode More...

enum	mtg_event_over_mode_cmp { event_over_cmp_mode_smaller = 0 , event_over_cmp_mode_bigger = 1 , event_over_cmp_mode_smaller = 0 , event_over_cmp_mode_bigger = 1 }
	define the enum of the event detection over protect mode More...

enum	mtg_event_trig_num { event_trig_once = 0 , event_trig_repeat = 1 , event_trig_once = 0 , event_trig_repeat = 1 }
	define the enum of the event trigger number More...

enum	mtg_software_force_one_way_mode { sw_force_negative = 0 , sw_force_positive = 1 , sw_force_negative = 0 , sw_force_positive = 1 }
	define the enum of the software force one way mode More...

enum	vel_one_way_mode { bigger_or_eq_zero = 0 , smaller_or_eq_zero = 1 , bigger_or_eq_zero = 0 , smaller_or_eq_zero = 1 }
	define the enum of the hardware force one way mode More...

enum	mtg_filter_rev_init_mode { rev_init_mode_from_first_input_value = 0 , rev_init_mode_from_register = 1 }
	define the enum of the filter initialization mode More...

enum	mtg_filter_rev_judge_mode { mtg_rev_judge_mode_new_sub_old = 0 , mtg_rev_judge_mode_encoder_lines = 1 }
	define the enum of the filter judge mode It affects the judgment conditions for changes in the number of revolution More...

enum	mtg_filter_ff_mode { mtg_filter_ff_mode_from_register = 0 , mtg_filter_ff_mode_from_input = 1 , mtg_filter_ff_mode_from_register = 0 , mtg_filter_ff_mode_from_input = 1 }
	define the enum of the filter ff mode More...

enum	mtg_time_input_source { mtg_time_input_from_filter = 1 , mtg_time_input_from_input = 2 , mtg_time_input_from_filter = 1 , mtg_time_input_from_input = 2 }
	define the enum of the trajectory predictor time input source More...

enum	mtg_link_cfg { link_event0 = 0 , link_event1 = 1 , link_event2 = 2 , link_event3 = 3 , link_hw_trigger = 4 , link_sw_trigger = 5 , link_event_timeout = 6 , link_event0 = 0 , link_event1 = 1 , link_event2 = 2 , link_event3 = 3 , link_hw_trigger = 4 , link_sw_trigger = 5 , link_event_timeout = 6 }
	define the enum of the trajectory predictor link event link the trigger source and the cmd object, it describes the trigger source More...

enum	mtg_tra_cmd_object_t { cmd_object_rev = 1 << 0 , cmd_object_pos = 1 << 1 , cmd_object_vel = 1 << 2 , cmd_object_acc = 1 << 3 , cmd_object_jer = 1 << 4 , cmd_object_rev = 1 << 0 , cmd_object_pos = 1 << 1 , cmd_object_vel = 1 << 2 , cmd_object_acc = 1 << 3 , cmd_object_jer = 1 << 4 }
	define the enum of the trajectory predictor command object More...

enum	mtg_link_cmd_mode_t { cmd_mode_new_value = 0 , cmd_mode_old_delta = 1 , cmd_mode_new_value = 0 , cmd_mode_old_delta = 1 }
	define the enum of the trajectory predictor command mode More...

enum	mtg_irq_enable { irq_filter_mul1_overflow = 1 << 0 , irq_filter_mul0_overflow = 1 << 1 , irq_event3_object_sudden_change = 1 << 2 , irq_event3 = 1 << 3 , irq_event2_object_sudden_change = 1 << 4 , irq_event2 = 1 << 5 , irq_event1_object_sudden_change = 1 << 6 , irq_event1 = 1 << 7 , irq_event0_object_sudden_change = 1 << 8 , irq_event0 = 1 << 9 , irq_tra1_lock = 1 << 10 , irq_tra1_vel_shift_issue = 1 << 11 , irq_tra1_acc_shift_issue = 1 << 12 , irq_tra1_cmd_conflict = 1 << 13 , irq_tra1_cmd3 = 1 << 14 , irq_tra1_cmd2 = 1 << 15 , irq_tra1_cmd1 = 1 << 16 , irq_tra1_cmd0 = 1 << 17 , irq_tra0_lock = 1 << 18 , irq_tra0_vel_shift_issue = 1 << 19 , irq_tra0_acc_shift_issue = 1 << 20 , irq_tra0_cmd_conflict = 1 << 21 , irq_tra0_cmd3 = 1 << 22 , irq_tra0_cmd2 = 1 << 23 , irq_tra0_cmd1 = 1 << 24 , irq_tra0_cmd0 = 1 << 25 , irq_f_i_irq = 1 << 26 , irq_i_f_irq0 = 1 << 27 }

enum	mtg_evnet_object_postion { event_source_before_filter = 1 << 0 , event_source_filter_output = 1 << 1 , event_source_tra0_output = 1 << 2 , event_source_tra1_output = 1 << 3 , event_source_before_filter = 1 << 0 , event_source_filter_output = 1 << 1 , event_source_tra0_output = 1 << 2 , event_source_tra1_output = 1 << 3 }
	define the enum of the postion of the observed object More...

enum	mtg_event_object { event_object_rev_pos = 1 , event_object_vel = 2 , event_object_acc = 4 , event_object_pos = 8 , event_object_rev_pos = 1 , event_object_vel = 2 , event_object_acc = 4 , event_object_pos = 8 }
	define the enum of the observed object More...

enum	mtg_event_mode { event_mode_across = 1 , event_mode_hold = 2 , event_mode_over_protect = 4 , event_mode_time_match = 8 , event_mode_across = 1 , event_mode_hold = 2 , event_mode_over_protect = 4 , event_mode_time_match = 8 }
	define the enum of the event detection mode More...

enum	mtg_event_dir { event_dir_negative = 0 , event_dir_positive = 1 , event_dir_both = 2 , event_dir_negative = 0 , event_dir_positive = 1 , event_dir_both = 2 }
	define the enum of the event detection direction More...

enum	mtg_event_dir_mode { event_dir_mode_dy = 0 , event_dir_mode_y1_y0 = 1 , event_dir_mode_dy = 0 , event_dir_mode_y1_y0 = 1 }
	define the enum of the event detection direction calculation mode More...

enum	mtg_event_over_mode_cmp { event_over_cmp_mode_smaller = 0 , event_over_cmp_mode_bigger = 1 , event_over_cmp_mode_smaller = 0 , event_over_cmp_mode_bigger = 1 }
	define the enum of the event detection over protect mode More...

enum	mtg_event_trig_num { event_trig_once = 0 , event_trig_repeat = 1 , event_trig_once = 0 , event_trig_repeat = 1 }
	define the enum of the event trigger number More...

enum	mtg_software_force_one_way_mode { sw_force_negative = 0 , sw_force_positive = 1 , sw_force_negative = 0 , sw_force_positive = 1 }
	define the enum of the software force one way mode More...

enum	vel_one_way_mode { bigger_or_eq_zero = 0 , smaller_or_eq_zero = 1 , bigger_or_eq_zero = 0 , smaller_or_eq_zero = 1 }
	define the enum of the hardware force one way mode More...

enum	mtg_filter_ff_mode { mtg_filter_ff_mode_from_register = 0 , mtg_filter_ff_mode_from_input = 1 , mtg_filter_ff_mode_from_register = 0 , mtg_filter_ff_mode_from_input = 1 }
	define the enum of the filter ff mode More...

enum	mtg_filter_first_load_mode { mtg_filter_first_load_mode_without_acc = 0 , mtg_filter_first_load_mode_include_acc = 1 }
	define the enum of the filter first load mode More...

enum	mtg_filter_err_bypass_mode { mtg_filter_err_bypass_mode_hw = 0 , mtg_filter_err_bypass_mode_sw = 1 }
	define the enum of the filter first load mode More...

enum	mtg_time_input_source { mtg_time_input_from_filter = 1 , mtg_time_input_from_input = 2 , mtg_time_input_from_filter = 1 , mtg_time_input_from_input = 2 }
	define the enum of the trajectory predictor time input source More...

enum	mtg_link_cfg { link_event0 = 0 , link_event1 = 1 , link_event2 = 2 , link_event3 = 3 , link_hw_trigger = 4 , link_sw_trigger = 5 , link_event_timeout = 6 , link_event0 = 0 , link_event1 = 1 , link_event2 = 2 , link_event3 = 3 , link_hw_trigger = 4 , link_sw_trigger = 5 , link_event_timeout = 6 }
	define the enum of the trajectory predictor link event link the trigger source and the cmd object, it describes the trigger source More...

enum	mtg_tra_cmd_object_t { cmd_object_rev = 1 << 0 , cmd_object_pos = 1 << 1 , cmd_object_vel = 1 << 2 , cmd_object_acc = 1 << 3 , cmd_object_jer = 1 << 4 , cmd_object_rev = 1 << 0 , cmd_object_pos = 1 << 1 , cmd_object_vel = 1 << 2 , cmd_object_acc = 1 << 3 , cmd_object_jer = 1 << 4 }
	define the enum of the trajectory predictor command object More...

enum	mtg_link_cmd_mode_t { cmd_mode_new_value = 0 , cmd_mode_old_delta = 1 , cmd_mode_new_value = 0 , cmd_mode_old_delta = 1 }
	define the enum of the trajectory predictor command mode More...

Functions
static uint32_t	mtg_get_tra_control_status (MTG_Type *base, uint8_t tra_index)
	MTG get trajectory predictor control register value. More...

static uint32_t	mtg_get_tra_cmd_control_status (MTG_Type *base, uint8_t tra_index, uint8_t cmd_index)
	MTG get trajectory predictor commond control register value. More...

static void	mtg_trig_tra_lock (MTG_Type *base, uint8_t tra_index)
	MTG trigger trajectory predictor lock current values. More...

static void	mtg_clear_tra_lock (MTG_Type *base, uint8_t tra_index)
	MTG clear trajectory predictor lock status. More...

static int32_t	mtg_get_tra_rev_lock_value (MTG_Type *base, uint8_t tra_index)
	MTG get trajectory predictor revolution lock value. More...

static uint32_t	mtg_get_tra_pos_lock_value (MTG_Type *base, uint8_t tra_index)
	MTG get trajectory predictor postion lock value. More...

static int32_t	mtg_get_tra_vel_lock_value (MTG_Type *base, uint8_t tra_index)
	MTG get trajectory predictor velocity lock value. More...

static int32_t	mtg_get_tra_acc_lock_value (MTG_Type *base, uint8_t tra_index)
	MTG get trajectory predictor acceleration lock value. More...

static void	mtg_filter_set_err_bypass_limit (MTG_Type *base, uint32_t limit)
	MTG setup filter error bypass limit. More...

static void	mtg_filter_set_bypass_switch_filter_limit (MTG_Type *base, uint32_t limit)
	MTG setup hardware switch from bypass status to filter status's limit When the difference between input and filter's pos result is smaller than the limit, the filter will use the filter's result inside of the input. More...

static void	mtg_filter_enable_bypass (MTG_Type *base)
	MTG enable filter error bypass When difference between input and filter's pos result is bigger than the limit, the filter output will be bypass and input will be output to the filter's port. More...

static void	mtg_filter_disable_bypass (MTG_Type *base)
	MTG disable filter error bypass When difference between input and filter's pos result is bigger than the limit, the filter output will be bypass and input will be output to the filter's port. More...

static void	mtg_filter_enable_reset_init (MTG_Type *base)
	MTG reset filter enable error reset. More...

static void	mtg_filter_disable_reset_init (MTG_Type *base)
	MTG reset filter disable error reset. More...

static void	mtg_filter_switch_filter_result (MTG_Type *base)
	MTG enable hardware switch from bypass status to filter status's limit When the difference between input and filter's pos result is smaller than the limit, the filter will use the filter's result inside of the input. The switch result can be defined by reading the switch status register. More...

static void	mtg_filter_stop_auto_switch_filter_result (MTG_Type *base)
	MTG disable hardware switch from bypass status to filter status's limit When the difference between input and filter's pos result is smaller than the limit, the filter will use the filter's result inside of the input. The switch result can be defined by reading the switch status register. More...

static bool	mtg_get_err_bypass_status (MTG_Type *base)
	MTG setup hardware switch from bypass status to filter status's limit When the difference between input and filter's pos result is smaller than the limit, the filter will use the filter's result inside of the input. More...

static void	mtg_set_time0_adjust_value (MTG_Type *base, uint32_t value)
	MTG set time0 adjust value. More...

static void	mtg_set_time1_adjust_value (MTG_Type *base, uint32_t value)
	MTG set time1 adjust value. More...

static void	mtg_tra_set_shift (MTG_Type *base, uint8_t index, uint8_t jer_shift, uint8_t acc_shift, uint8_t vel_shift)
	MTG set time shift value. More...

static void	mtg_set_global_reset (MTG_Type *base)
	MTG global reset. More...

static void	mtg_stop_global_reset (MTG_Type *base)
	MTG stop global reset. More...

void	mtg_get_tra_lock_result (MTG_Type base, uint8_t tra_index, mtg_lock_value_t para)
	MTG predictor get lock result. More...

hpm_stat_t	mtg_setup_event (MTG_Type base, uint8_t event_index, mtg_event_param_t param)
	MTG setup event params. More...

hpm_stat_t	mtg_setup_tra_limit (MTG_Type base, uint8_t tra_index, mtg_tra_limit_param_t param)
	MTG setup trajectory limit params. More...

void	mtg_setup_tra_software_pos_one_way_mode (MTG_Type *base, uint8_t tra_index, mtg_software_force_one_way_mode_t param)
	MTG setup trajectory software one_way mode. More...

void	mtg_setup_tra_hardware_pos_one_way_mode (MTG_Type base, uint8_t tra_index, mtg_hardware_force_one_way_mode_t param)
	MTG setup trajectory hardware one_way mode. More...

void	mtg_disable_tra_pos_one_way_mode (MTG_Type *base, uint8_t tra_index)
	MTG disable trajectory postion one_way mode. More...

void	mtg_setup_tra_vel_one_way (MTG_Type *base, uint8_t tra_index, vel_one_way_mode_t mode, bool enable)
	MTG setup trajectory velocity one_way mode. More...

void	mtg_filter_get_default_filter_stage_param (mtg_filter_param_t *param)
	MTG setup filter. More...

void	mtg_setup_time (MTG_Type base, mtg_time_init_param_t param)
	MTG setup time compensation module. More...

void	mtg_setup_filter (MTG_Type base, mtg_filter_param_t param)
	MTG setup filter. More...

void	mtg_setup_timeout (MTG_Type base, mtg_timeout_param_t param)
	MTG setup timeout. More...

void	mtg_setup_link_cfg (MTG_Type base, uint8_t tra_index, mtg_link_cfg_t link_cfg, mtg_tra_cmd_cfg_t cmd_cfg)
	MTG link trigger source and trajectory command. More...

void	mtg_soft_event_trigger (MTG_Type *base)
	MTG software trigger trajectory command. More...

void	mtg_get_default_tra_shift (mtg_tra_shift_t *cfg)
	Get default trajectory shift. More...

static bool	mtg_get_irq_status (MTG_Type *ptr, uint8_t idx)
	Get the event irq status. More...

static void	mtg_clear_irq_status (MTG_Type *ptr, uint8_t idx)
	Clear the event irq status. More...

int32_t	mtg_calc_vel_preset (MTG_Type *base, clock_name_t clock, uint8_t tra_index, float speed)
	calculate the vel preset More...

int32_t	mtg_calc_acc_preset (MTG_Type *base, clock_name_t clock, uint8_t tra_index, float acc)
	calculate the acc preset More...

int32_t	mtg_calc_jer_preset (MTG_Type *base, clock_name_t clock, uint8_t tra_index, float jer)
	MTG link trigger source and trajectory command. More...

static uint32_t	mtg_get_tra_control_status (MTGV2_Type *base, uint8_t tra_index)
	MTG get trajectory predictor control register value. More...

static uint32_t	mtg_get_tra_cmd_control_status (MTGV2_Type *base, uint8_t tra_index, uint8_t cmd_index)
	MTG get trajectory predictor commond control register value. More...

static void	mtg_trig_tra_lock (MTGV2_Type *base, uint8_t tra_index)
	MTG trigger trajectory predictor lock current values. More...

static void	mtg_clear_tra_lock (MTGV2_Type *base, uint8_t tra_index)
	MTG clear trajectory predictor lock status. More...

static int32_t	mtg_get_tra_rev_lock_value (MTGV2_Type *base, uint8_t tra_index)
	MTG get trajectory predictor revolution lock value. More...

static uint32_t	mtg_get_tra_pos_lock_value (MTGV2_Type *base, uint8_t tra_index)
	MTG get trajectory predictor postion lock value. More...

static int32_t	mtg_get_tra_vel_lock_value (MTGV2_Type *base, uint8_t tra_index)
	MTG get trajectory predictor velocity lock value. More...

static int32_t	mtg_get_tra_acc_lock_value (MTGV2_Type *base, uint8_t tra_index)
	MTG get trajectory predictor acceleration lock value. More...

static void	mtg_filter_enable_bypass (MTGV2_Type *base)
	MTG enable filter error bypass When difference between input and filter's pos result is bigger than the limit, the filter output will be bypass and input will be output to the filter's port. More...

static void	mtg_filter_disable_bypass (MTGV2_Type *base)
	MTG disable filter error bypass When difference between input and filter's pos result is bigger than the limit, the filter output will be bypass and input will be output to the filter's port. More...

static void	mtg_filter_switch_filter_result (MTGV2_Type *base)
	MTG enable hardware switch from bypass status to filter status's limit When the difference between input and filter's pos result is smaller than the limit, the filter will use the filter's result inside of the input. The switch result can be defined by reading the switch status register. More...

static void	mtg_filter_stop_auto_switch_filter_result (MTGV2_Type *base)
	MTG disable hardware switch from bypass status to filter status's limit When the difference between input and filter's pos result is smaller than the limit, the filter will use the filter's result inside of the input. The switch result can be defined by reading the switch status register. More...

static bool	mtg_get_err_bypass_status (MTGV2_Type *base)
	MTG setup hardware switch from bypass status to filter status's limit When the difference between input and filter's pos result is smaller than the limit, the filter will use the filter's result inside of the input. More...

static void	mtg_set_time0_adjust_value (MTGV2_Type *base, uint32_t value)
	MTG set time0 adjust value. More...

static void	mtg_set_time1_adjust_value (MTGV2_Type *base, uint32_t value)
	MTG set time1 adjust value. More...

static void	mtg_tra_set_shift (MTGV2_Type *base, uint8_t index, uint8_t jer_shift, uint8_t acc_shift, uint8_t vel_shift)
	MTG set time shift value. More...

static void	mtg_set_global_reset (MTGV2_Type *base)
	MTG global reset. More...

static void	mtg_stop_global_reset (MTGV2_Type *base)
	MTG stop global reset. More...

void	mtg_get_tra_lock_result (MTGV2_Type base, uint8_t tra_index, mtg_lock_value_t para)
	MTG predictor get lock result. More...

hpm_stat_t	mtg_setup_event (MTGV2_Type base, uint8_t event_index, mtg_event_param_t param)
	MTG setup event params. More...

hpm_stat_t	mtg_setup_tra_limit (MTGV2_Type base, uint8_t tra_index, mtg_tra_limit_param_t param)
	MTG setup trajectory limit params. More...

void	mtg_setup_tra_software_pos_one_way_mode (MTGV2_Type *base, uint8_t tra_index, mtg_software_force_one_way_mode_t param)
	MTG setup trajectory software one_way mode. More...

void	mtg_setup_tra_hardware_pos_one_way_mode (MTGV2_Type base, uint8_t tra_index, mtg_hardware_force_one_way_mode_t param)
	MTG setup trajectory hardware one_way mode. More...

void	mtg_disable_tra_pos_one_way_mode (MTGV2_Type *base, uint8_t tra_index)
	MTG disable trajectory postion one_way mode. More...

void	mtg_setup_tra_vel_one_way (MTGV2_Type *base, uint8_t tra_index, vel_one_way_mode_t mode, bool enable)
	MTG setup trajectory velocity one_way mode. More...

void	mtg_setup_time (MTGV2_Type base, mtg_time_init_param_t param)
	MTG setup time compensation module. More...

void	mtg_setup_filter (MTGV2_Type base, mtg_filter_param_t param)
	MTG setup filter. More...

void	mtg_setup_timeout (MTGV2_Type base, mtg_timeout_param_t param)
	MTG setup timeout. More...

void	mtg_setup_link_cfg (MTGV2_Type base, uint8_t tra_index, mtg_link_cfg_t link_cfg, mtg_tra_cmd_cfg_t cmd_cfg)
	MTG link trigger source and trajectory command. More...

void	mtg_soft_event_trigger (MTGV2_Type *base)
	MTG software trigger trajectory command. More...

static uint32_t	mtg_get_irq_status (MTGV2_Type *ptr)
	Get the event irq status. More...

static void	mtg_enable_irq (MTGV2_Type *ptr, mtg_irq_enable_t irq)
	Enable irq. More...

static void	mtg_clear_irq_status (MTGV2_Type *ptr, uint32_t irq)
	Clear the event irq status. More...

int32_t	mtg_calc_vel_preset (MTGV2_Type *base, clock_name_t clock, uint8_t tra_index, float speed)
	calculate the vel preset More...

int32_t	mtg_calc_acc_preset (MTGV2_Type *base, clock_name_t clock, uint8_t tra_index, float acc)
	calculate the acc preset More...

int32_t	mtg_calc_jer_preset (MTGV2_Type *base, clock_name_t clock, uint8_t tra_index, float jer)
	MTG link trigger source and trajectory command. More...

Detailed Description

MTG driver APIs.

Typedef Documentation

◆ mtg_event_dir_mode_t [1/2]

typedef enum mtg_event_dir_mode mtg_event_dir_mode_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the event detection direction calculation mode

◆ mtg_event_dir_mode_t [2/2]

typedef enum mtg_event_dir_mode mtg_event_dir_mode_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the event detection direction calculation mode

◆ mtg_event_dir_t [1/2]

typedef enum mtg_event_dir mtg_event_dir_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the event detection direction

◆ mtg_event_dir_t [2/2]

typedef enum mtg_event_dir mtg_event_dir_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the event detection direction

◆ mtg_event_mode_t [1/2]

typedef enum mtg_event_mode mtg_event_mode_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the event detection mode

◆ mtg_event_mode_t [2/2]

typedef enum mtg_event_mode mtg_event_mode_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the event detection mode

◆ mtg_event_object_t [1/2]

typedef enum mtg_event_object mtg_event_object_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the observed object

◆ mtg_event_object_t [2/2]

typedef enum mtg_event_object mtg_event_object_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the observed object

◆ mtg_event_over_mode_cmp_t [1/2]

typedef enum mtg_event_over_mode_cmp mtg_event_over_mode_cmp_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the event detection over protect mode

◆ mtg_event_over_mode_cmp_t [2/2]

typedef enum mtg_event_over_mode_cmp mtg_event_over_mode_cmp_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the event detection over protect mode

◆ mtg_event_param_t [1/2]

typedef struct mtg_event_param mtg_event_param_t

#include <drivers/inc/hpm_mtg_drv.h>

define the struct of the event setup parameter

◆ mtg_event_param_t [2/2]

typedef struct mtg_event_param mtg_event_param_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the struct of the event setup parameter

◆ mtg_event_trig_num_t [1/2]

typedef enum mtg_event_trig_num mtg_event_trig_num_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the event trigger number

◆ mtg_event_trig_num_t [2/2]

typedef enum mtg_event_trig_num mtg_event_trig_num_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the event trigger number

◆ mtg_evnet_object_postion_t [1/2]

typedef enum mtg_evnet_object_postion mtg_evnet_object_postion_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the postion of the observed object

◆ mtg_evnet_object_postion_t [2/2]

typedef enum mtg_evnet_object_postion mtg_evnet_object_postion_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the postion of the observed object

◆ mtg_filter_err_bypass_mode_t

typedef enum mtg_filter_err_bypass_mode mtg_filter_err_bypass_mode_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the filter first load mode

◆ mtg_filter_ff_mode_t [1/2]

typedef enum mtg_filter_ff_mode mtg_filter_ff_mode_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the filter ff mode

◆ mtg_filter_ff_mode_t [2/2]

typedef enum mtg_filter_ff_mode mtg_filter_ff_mode_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the filter ff mode

◆ mtg_filter_first_load_mode_t

typedef enum mtg_filter_first_load_mode mtg_filter_first_load_mode_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the filter first load mode

◆ mtg_filter_param_t [1/2]

typedef struct mtg_filter_param mtg_filter_param_t

#include <drivers/inc/hpm_mtg_drv.h>

◆ mtg_filter_param_t [2/2]

typedef struct mtg_filter_param mtg_filter_param_t

#include <drivers/inc/hpm_mtgv2_drv.h>

◆ mtg_filter_rev_init_mode_t

typedef enum mtg_filter_rev_init_mode mtg_filter_rev_init_mode_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the filter initialization mode

◆ mtg_filter_rev_judge_mode_t

typedef enum mtg_filter_rev_judge_mode mtg_filter_rev_judge_mode_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the filter judge mode It affects the judgment conditions for changes in the number of revolution

◆ mtg_hardware_force_one_way_mode_t [1/2]

typedef struct mtg_hardware_force_one_way_mode mtg_hardware_force_one_way_mode_t

#include <drivers/inc/hpm_mtg_drv.h>

define the struct of the hardware force one way mode

◆ mtg_hardware_force_one_way_mode_t [2/2]

typedef struct mtg_hardware_force_one_way_mode mtg_hardware_force_one_way_mode_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the struct of the hardware force one way mode

◆ mtg_irq_enable_t

typedef enum mtg_irq_enable mtg_irq_enable_t

#include <drivers/inc/hpm_mtgv2_drv.h>

◆ mtg_link_cfg_t [1/2]

typedef enum mtg_link_cfg mtg_link_cfg_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the trajectory predictor link event link the trigger source and the cmd object, it describes the trigger source

◆ mtg_link_cfg_t [2/2]

typedef enum mtg_link_cfg mtg_link_cfg_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the trajectory predictor link event link the trigger source and the cmd object, it describes the trigger source

◆ mtg_lock_value_t [1/2]

typedef struct mtg_result mtg_lock_value_t

#include <drivers/inc/hpm_mtg_drv.h>

define the struct of mtg lock values

◆ mtg_lock_value_t [2/2]

typedef struct mtg_result mtg_lock_value_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the struct of mtg lock values

◆ mtg_software_force_one_way_mode_t [1/2]

typedef enum mtg_software_force_one_way_mode mtg_software_force_one_way_mode_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the software force one way mode

◆ mtg_software_force_one_way_mode_t [2/2]

typedef enum mtg_software_force_one_way_mode mtg_software_force_one_way_mode_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the software force one way mode

◆ mtg_time_init_param_t [1/2]

typedef struct mtg_time_init_param mtg_time_init_param_t

#include <drivers/inc/hpm_mtg_drv.h>

define the struct of the trajectory predictor time initialization

◆ mtg_time_init_param_t [2/2]

typedef struct mtg_time_init_param mtg_time_init_param_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the struct of the trajectory predictor time initialization

◆ mtg_time_input_source_t [1/2]

typedef enum mtg_time_input_source mtg_time_input_source_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the trajectory predictor time input source

◆ mtg_time_input_source_t [2/2]

typedef enum mtg_time_input_source mtg_time_input_source_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the trajectory predictor time input source

◆ mtg_timeout_param_t [1/2]

typedef struct mtg_timeout_param mtg_timeout_param_t

#include <drivers/inc/hpm_mtg_drv.h>

define the struct of the trajectory predictor timeout

◆ mtg_timeout_param_t [2/2]

typedef struct mtg_timeout_param mtg_timeout_param_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the struct of the trajectory predictor timeout

◆ mtg_tra_cmd_cfg_t [1/2]

typedef struct mtg_tra_cmd_cfg mtg_tra_cmd_cfg_t

#include <drivers/inc/hpm_mtg_drv.h>

define the struct of the trajectory predictor command

◆ mtg_tra_cmd_cfg_t [2/2]

typedef struct mtg_tra_cmd_cfg mtg_tra_cmd_cfg_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the struct of the trajectory predictor command

◆ mtg_tra_limit_param_t [1/2]

typedef struct mtg_tra_limit_param mtg_tra_limit_param_t

#include <drivers/inc/hpm_mtg_drv.h>

◆ mtg_tra_limit_param_t [2/2]

typedef struct mtg_tra_limit_param mtg_tra_limit_param_t

#include <drivers/inc/hpm_mtgv2_drv.h>

◆ mtg_tra_shift_t [1/2]

typedef struct mtg_tra_shift mtg_tra_shift_t

#include <drivers/inc/hpm_mtg_drv.h>

define the struct of the trajectory shift struct

◆ mtg_tra_shift_t [2/2]

typedef struct mtg_tra_shift mtg_tra_shift_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the struct of the trajectory shift struct

◆ vel_one_way_mode_t [1/2]

typedef enum vel_one_way_mode vel_one_way_mode_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the hardware force one way mode

◆ vel_one_way_mode_t [2/2]

typedef enum vel_one_way_mode vel_one_way_mode_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the hardware force one way mode

Enumeration Type Documentation

◆ mtg_event_dir [1/2]

enum mtg_event_dir

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the event detection direction

Enumerator
event_dir_negative
event_dir_positive
event_dir_both
event_dir_negative
event_dir_positive
event_dir_both

◆ mtg_event_dir [2/2]

enum mtg_event_dir

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the event detection direction

Enumerator
event_dir_negative
event_dir_positive
event_dir_both
event_dir_negative
event_dir_positive
event_dir_both

◆ mtg_event_dir_mode [1/2]

enum mtg_event_dir_mode

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the event detection direction calculation mode

Enumerator
event_dir_mode_dy
event_dir_mode_y1_y0
event_dir_mode_dy
event_dir_mode_y1_y0

◆ mtg_event_dir_mode [2/2]

enum mtg_event_dir_mode

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the event detection direction calculation mode

Enumerator
event_dir_mode_dy
event_dir_mode_y1_y0
event_dir_mode_dy
event_dir_mode_y1_y0

◆ mtg_event_mode [1/2]

enum mtg_event_mode

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the event detection mode

Enumerator
event_mode_across
event_mode_hold
event_mode_over_protect
event_mode_time_match
event_mode_across
event_mode_hold
event_mode_over_protect
event_mode_time_match

◆ mtg_event_mode [2/2]

enum mtg_event_mode

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the event detection mode

Enumerator
event_mode_across
event_mode_hold
event_mode_over_protect
event_mode_time_match
event_mode_across
event_mode_hold
event_mode_over_protect
event_mode_time_match

◆ mtg_event_object [1/2]

enum mtg_event_object

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the observed object

Enumerator
event_object_rev_pos
event_object_vel
event_object_acc
event_object_pos
event_object_rev_pos
event_object_vel
event_object_acc
event_object_pos

◆ mtg_event_object [2/2]

enum mtg_event_object

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the observed object

Enumerator
event_object_rev_pos
event_object_vel
event_object_acc
event_object_pos
event_object_rev_pos
event_object_vel
event_object_acc
event_object_pos

◆ mtg_event_over_mode_cmp [1/2]

enum mtg_event_over_mode_cmp

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the event detection over protect mode

Enumerator
event_over_cmp_mode_smaller
event_over_cmp_mode_bigger
event_over_cmp_mode_smaller
event_over_cmp_mode_bigger

◆ mtg_event_over_mode_cmp [2/2]

enum mtg_event_over_mode_cmp

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the event detection over protect mode

Enumerator
event_over_cmp_mode_smaller
event_over_cmp_mode_bigger
event_over_cmp_mode_smaller
event_over_cmp_mode_bigger

◆ mtg_event_trig_num [1/2]

enum mtg_event_trig_num

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the event trigger number

Enumerator
event_trig_once
event_trig_repeat
event_trig_once
event_trig_repeat

◆ mtg_event_trig_num [2/2]

enum mtg_event_trig_num

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the event trigger number

Enumerator
event_trig_once
event_trig_repeat
event_trig_once
event_trig_repeat

◆ mtg_evnet_object_postion [1/2]

enum mtg_evnet_object_postion

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the postion of the observed object

Enumerator
event_source_before_filter
event_source_filter_output
event_source_tra0_output
event_source_tra1_output
event_source_before_filter
event_source_filter_output
event_source_tra0_output
event_source_tra1_output

◆ mtg_evnet_object_postion [2/2]

enum mtg_evnet_object_postion

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the postion of the observed object

Enumerator
event_source_before_filter
event_source_filter_output
event_source_tra0_output
event_source_tra1_output
event_source_before_filter
event_source_filter_output
event_source_tra0_output
event_source_tra1_output

◆ mtg_filter_err_bypass_mode

enum mtg_filter_err_bypass_mode

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the filter first load mode

Enumerator
mtg_filter_err_bypass_mode_hw
mtg_filter_err_bypass_mode_sw

◆ mtg_filter_ff_mode [1/2]

enum mtg_filter_ff_mode

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the filter ff mode

Enumerator
mtg_filter_ff_mode_from_register
mtg_filter_ff_mode_from_input
mtg_filter_ff_mode_from_register
mtg_filter_ff_mode_from_input

◆ mtg_filter_ff_mode [2/2]

enum mtg_filter_ff_mode

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the filter ff mode

Enumerator
mtg_filter_ff_mode_from_register
mtg_filter_ff_mode_from_input
mtg_filter_ff_mode_from_register
mtg_filter_ff_mode_from_input

◆ mtg_filter_first_load_mode

enum mtg_filter_first_load_mode

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the filter first load mode

Enumerator
mtg_filter_first_load_mode_without_acc
mtg_filter_first_load_mode_include_acc

◆ mtg_filter_rev_init_mode

enum mtg_filter_rev_init_mode

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the filter initialization mode

Enumerator
rev_init_mode_from_first_input_value
rev_init_mode_from_register

◆ mtg_filter_rev_judge_mode

enum mtg_filter_rev_judge_mode

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the filter judge mode It affects the judgment conditions for changes in the number of revolution

Enumerator
mtg_rev_judge_mode_new_sub_old
mtg_rev_judge_mode_encoder_lines

◆ mtg_irq_enable

enum mtg_irq_enable

#include <drivers/inc/hpm_mtgv2_drv.h>

Enumerator
irq_filter_mul1_overflow
irq_filter_mul0_overflow
irq_event3_object_sudden_change
irq_event3
irq_event2_object_sudden_change
irq_event2
irq_event1_object_sudden_change
irq_event1
irq_event0_object_sudden_change
irq_event0
irq_tra1_lock
irq_tra1_vel_shift_issue
irq_tra1_acc_shift_issue
irq_tra1_cmd_conflict
irq_tra1_cmd3
irq_tra1_cmd2
irq_tra1_cmd1
irq_tra1_cmd0
irq_tra0_lock
irq_tra0_vel_shift_issue
irq_tra0_acc_shift_issue
irq_tra0_cmd_conflict
irq_tra0_cmd3
irq_tra0_cmd2
irq_tra0_cmd1
irq_tra0_cmd0
irq_f_i_irq
irq_i_f_irq0

◆ mtg_link_cfg [1/2]

enum mtg_link_cfg

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the trajectory predictor link event link the trigger source and the cmd object, it describes the trigger source

Enumerator
link_event0
link_event1
link_event2
link_event3
link_hw_trigger
link_sw_trigger
link_event_timeout
link_event0
link_event1
link_event2
link_event3
link_hw_trigger
link_sw_trigger
link_event_timeout

◆ mtg_link_cfg [2/2]

enum mtg_link_cfg

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the trajectory predictor link event link the trigger source and the cmd object, it describes the trigger source

Enumerator
link_event0
link_event1
link_event2
link_event3
link_hw_trigger
link_sw_trigger
link_event_timeout
link_event0
link_event1
link_event2
link_event3
link_hw_trigger
link_sw_trigger
link_event_timeout

◆ mtg_link_cmd_mode_t [1/2]

enum mtg_link_cmd_mode_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the trajectory predictor command mode

Enumerator
cmd_mode_new_value
cmd_mode_old_delta
cmd_mode_new_value
cmd_mode_old_delta

◆ mtg_link_cmd_mode_t [2/2]

enum mtg_link_cmd_mode_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the trajectory predictor command mode

Enumerator
cmd_mode_new_value
cmd_mode_old_delta
cmd_mode_new_value
cmd_mode_old_delta

◆ mtg_software_force_one_way_mode [1/2]

enum mtg_software_force_one_way_mode

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the software force one way mode

Enumerator
sw_force_negative
sw_force_positive
sw_force_negative
sw_force_positive

◆ mtg_software_force_one_way_mode [2/2]

enum mtg_software_force_one_way_mode

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the software force one way mode

Enumerator
sw_force_negative
sw_force_positive
sw_force_negative
sw_force_positive

◆ mtg_time_input_source [1/2]

enum mtg_time_input_source

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the trajectory predictor time input source

Enumerator
mtg_time_input_from_filter
mtg_time_input_from_input
mtg_time_input_from_filter
mtg_time_input_from_input

◆ mtg_time_input_source [2/2]

enum mtg_time_input_source

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the trajectory predictor time input source

Enumerator
mtg_time_input_from_filter
mtg_time_input_from_input
mtg_time_input_from_filter
mtg_time_input_from_input

◆ mtg_tra_cmd_object_t [1/2]

enum mtg_tra_cmd_object_t

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the trajectory predictor command object

Enumerator
cmd_object_rev
cmd_object_pos
cmd_object_vel
cmd_object_acc
cmd_object_jer
cmd_object_rev
cmd_object_pos
cmd_object_vel
cmd_object_acc
cmd_object_jer

◆ mtg_tra_cmd_object_t [2/2]

enum mtg_tra_cmd_object_t

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the trajectory predictor command object

Enumerator
cmd_object_rev
cmd_object_pos
cmd_object_vel
cmd_object_acc
cmd_object_jer
cmd_object_rev
cmd_object_pos
cmd_object_vel
cmd_object_acc
cmd_object_jer

◆ vel_one_way_mode [1/2]

enum vel_one_way_mode

#include <drivers/inc/hpm_mtg_drv.h>

define the enum of the hardware force one way mode

Enumerator
bigger_or_eq_zero
smaller_or_eq_zero
bigger_or_eq_zero
smaller_or_eq_zero

◆ vel_one_way_mode [2/2]

enum vel_one_way_mode

#include <drivers/inc/hpm_mtgv2_drv.h>

define the enum of the hardware force one way mode

Enumerator
bigger_or_eq_zero
smaller_or_eq_zero
bigger_or_eq_zero
smaller_or_eq_zero

Function Documentation

◆ mtg_calc_acc_preset() [1/2]

int32_t mtg_calc_acc_preset	(	MTG_Type *	base,
		clock_name_t	clock,
		uint8_t	tra_index,
		float	acc
	)

#include <drivers/inc/hpm_mtg_drv.h>

calculate the acc preset

Parameters

[in]	base	MTG base address
[in]	clock	MTG clock name
[in]	tra_index	- trajectory index
[in]	acc	- acc in r/s2

◆ mtg_calc_acc_preset() [2/2]

int32_t mtg_calc_acc_preset	(	MTGV2_Type *	base,
		clock_name_t	clock,
		uint8_t	tra_index,
		float	acc
	)

#include <drivers/inc/hpm_mtgv2_drv.h>

calculate the acc preset

Parameters

[in]	base	MTG base address
[in]	clock	MTG clock name
[in]	tra_index	- trajectory index
[in]	acc	- acc in r/s2

◆ mtg_calc_jer_preset() [1/2]

int32_t mtg_calc_jer_preset	(	MTG_Type *	base,
		clock_name_t	clock,
		uint8_t	tra_index,
		float	jer
	)

#include <drivers/inc/hpm_mtg_drv.h>

MTG link trigger source and trajectory command.

Parameters

[in]	base	MTG base address
[in]	clock	MTG clock name
[in]	tra_index	- trajectory index
[in]	jer	- jer in r/s3

◆ mtg_calc_jer_preset() [2/2]

int32_t mtg_calc_jer_preset	(	MTGV2_Type *	base,
		clock_name_t	clock,
		uint8_t	tra_index,
		float	jer
	)

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG link trigger source and trajectory command.

Parameters

[in]	base	MTG base address
[in]	clock	MTG clock name
[in]	tra_index	- trajectory index
[in]	jer	- jer in r/s3

◆ mtg_calc_vel_preset() [1/2]

int32_t mtg_calc_vel_preset	(	MTG_Type *	base,
		clock_name_t	clock,
		uint8_t	tra_index,
		float	speed
	)

#include <drivers/inc/hpm_mtg_drv.h>

calculate the vel preset

Parameters

[in]	base	MTG base address
[in]	clock	MTG clock name
[in]	tra_index	- trajectory index
[in]	speed	- speed in r/s

◆ mtg_calc_vel_preset() [2/2]

int32_t mtg_calc_vel_preset	(	MTGV2_Type *	base,
		clock_name_t	clock,
		uint8_t	tra_index,
		float	speed
	)

#include <drivers/inc/hpm_mtgv2_drv.h>

calculate the vel preset

Parameters

[in]	base	MTG base address
[in]	clock	MTG clock name
[in]	tra_index	- trajectory index
[in]	speed	- speed in r/s

◆ mtg_clear_irq_status() [1/2]

static void mtg_clear_irq_status	(	MTG_Type *	ptr,
		uint8_t	idx
	)

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

Clear the event irq status.

Parameters

[in]	ptr	the mtg base
[in]	idx	the event index

◆ mtg_clear_irq_status() [2/2]

static void mtg_clear_irq_status	(	MTGV2_Type *	ptr,
		uint32_t	irq
	)

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

Clear the event irq status.

Parameters

[in]	ptr	the mtg base
[in]	irq	the irq index

◆ mtg_clear_tra_lock() [1/2]

static void mtg_clear_tra_lock	(	MTG_Type *	base,
		uint8_t	tra_index
	)

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG clear trajectory predictor lock status.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index

◆ mtg_clear_tra_lock() [2/2]

static void mtg_clear_tra_lock	(	MTGV2_Type *	base,
		uint8_t	tra_index
	)

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG clear trajectory predictor lock status.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index

◆ mtg_disable_tra_pos_one_way_mode() [1/2]

void mtg_disable_tra_pos_one_way_mode	(	MTG_Type *	base,
		uint8_t	tra_index
	)

#include <drivers/inc/hpm_mtg_drv.h>

MTG disable trajectory postion one_way mode.

Parameters

[in]	base	MTG base address
[in]	tra_index	- trajectory index

◆ mtg_disable_tra_pos_one_way_mode() [2/2]

void mtg_disable_tra_pos_one_way_mode	(	MTGV2_Type *	base,
		uint8_t	tra_index
	)

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG disable trajectory postion one_way mode.

Parameters

[in]	base	MTG base address
[in]	tra_index	- trajectory index

◆ mtg_enable_irq()

static void mtg_enable_irq	(	MTGV2_Type *	ptr,
		mtg_irq_enable_t	irq
	)

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

Enable irq.

Parameters

[in]	ptr	the mtg base
[in]	irq	the irq mask

◆ mtg_filter_disable_bypass() [1/2]

static void mtg_filter_disable_bypass ( MTG_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG disable filter error bypass When difference between input and filter's pos result is bigger than the limit, the filter output will be bypass and input will be output to the filter's port.

Parameters

[in]	base	MTG base address
[in]	limit	- bypass limit

◆ mtg_filter_disable_bypass() [2/2]

static void mtg_filter_disable_bypass ( MTGV2_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG disable filter error bypass When difference between input and filter's pos result is bigger than the limit, the filter output will be bypass and input will be output to the filter's port.

Parameters

[in]	base	MTG base address
[in]	limit	- bypass limit

◆ mtg_filter_disable_reset_init()

static void mtg_filter_disable_reset_init ( MTG_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG reset filter disable error reset.

Parameters

[in] base MTG base address

◆ mtg_filter_enable_bypass() [1/2]

static void mtg_filter_enable_bypass ( MTG_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG enable filter error bypass When difference between input and filter's pos result is bigger than the limit, the filter output will be bypass and input will be output to the filter's port.

Parameters

[in]	base	MTG base address
[in]	limit	- bypass limit

◆ mtg_filter_enable_bypass() [2/2]

static void mtg_filter_enable_bypass ( MTGV2_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG enable filter error bypass When difference between input and filter's pos result is bigger than the limit, the filter output will be bypass and input will be output to the filter's port.

Parameters

[in]	base	MTG base address
[in]	limit	- bypass limit

◆ mtg_filter_enable_reset_init()

static void mtg_filter_enable_reset_init ( MTG_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG reset filter enable error reset.

Parameters

[in] base MTG base address

◆ mtg_filter_get_default_filter_stage_param()

void mtg_filter_get_default_filter_stage_param ( mtg_filter_param_t * param )

#include <drivers/inc/hpm_mtg_drv.h>

MTG setup filter.

Parameters

[in]	base	MTG base address
[in]	param	- filter params

◆ mtg_filter_set_bypass_switch_filter_limit()

static void mtg_filter_set_bypass_switch_filter_limit	(	MTG_Type *	base,
		uint32_t	limit
	)

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG setup hardware switch from bypass status to filter status's limit When the difference between input and filter's pos result is smaller than the limit, the filter will use the filter's result inside of the input.

Parameters

[in]	base	MTG base address
[in]	param	- filter params

◆ mtg_filter_set_err_bypass_limit()

static void mtg_filter_set_err_bypass_limit	(	MTG_Type *	base,
		uint32_t	limit
	)

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG setup filter error bypass limit.

Parameters

[in]	base	MTG base address
[in]	limit	- bypass limit

◆ mtg_filter_stop_auto_switch_filter_result() [1/2]

static void mtg_filter_stop_auto_switch_filter_result ( MTG_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG disable hardware switch from bypass status to filter status's limit When the difference between input and filter's pos result is smaller than the limit, the filter will use the filter's result inside of the input. The switch result can be defined by reading the switch status register.

Parameters

[in]	base	MTG base address
[in]	param	- filter params

◆ mtg_filter_stop_auto_switch_filter_result() [2/2]

static void mtg_filter_stop_auto_switch_filter_result ( MTGV2_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG disable hardware switch from bypass status to filter status's limit When the difference between input and filter's pos result is smaller than the limit, the filter will use the filter's result inside of the input. The switch result can be defined by reading the switch status register.

Parameters

[in]	base	MTG base address
[in]	param	- filter params

◆ mtg_filter_switch_filter_result() [1/2]

static void mtg_filter_switch_filter_result ( MTG_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG enable hardware switch from bypass status to filter status's limit When the difference between input and filter's pos result is smaller than the limit, the filter will use the filter's result inside of the input. The switch result can be defined by reading the switch status register.

Parameters

[in]	base	MTG base address
[in]	param	- filter params

◆ mtg_filter_switch_filter_result() [2/2]

static void mtg_filter_switch_filter_result ( MTGV2_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG enable hardware switch from bypass status to filter status's limit When the difference between input and filter's pos result is smaller than the limit, the filter will use the filter's result inside of the input. The switch result can be defined by reading the switch status register.

Parameters

[in]	base	MTG base address
[in]	param	- filter params

◆ mtg_get_default_tra_shift()

void mtg_get_default_tra_shift ( mtg_tra_shift_t * cfg )

#include <drivers/inc/hpm_mtg_drv.h>

Get default trajectory shift.

Parameters

[out] cfg pointer to the tra shift var

◆ mtg_get_err_bypass_status() [1/2]

static bool mtg_get_err_bypass_status ( MTG_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG setup hardware switch from bypass status to filter status's limit When the difference between input and filter's pos result is smaller than the limit, the filter will use the filter's result inside of the input.

Parameters

[in] base - MTG base address

Return values

bypass status

◆ mtg_get_err_bypass_status() [2/2]

static bool mtg_get_err_bypass_status ( MTGV2_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG setup hardware switch from bypass status to filter status's limit When the difference between input and filter's pos result is smaller than the limit, the filter will use the filter's result inside of the input.

Parameters

[in] base - MTG base address

Return values

bypass status

◆ mtg_get_irq_status() [1/2]

static bool mtg_get_irq_status	(	MTG_Type *	ptr,
		uint8_t	idx
	)

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

Get the event irq status.

Parameters

[in]	ptr	the mtg base
[in]	idx	the event index

◆ mtg_get_irq_status() [2/2]

static uint32_t mtg_get_irq_status ( MTGV2_Type * ptr )

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

Get the event irq status.

Parameters

[in]	ptr	the mtg base
[in]	idx	the event index

◆ mtg_get_tra_acc_lock_value() [1/2]

static int32_t mtg_get_tra_acc_lock_value	(	MTG_Type *	base,
		uint8_t	tra_index
	)

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG get trajectory predictor acceleration lock value.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index

Return values

trajectory predictor acceleration value

◆ mtg_get_tra_acc_lock_value() [2/2]

static int32_t mtg_get_tra_acc_lock_value	(	MTGV2_Type *	base,
		uint8_t	tra_index
	)

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG get trajectory predictor acceleration lock value.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index

Return values

trajectory predictor acceleration value

◆ mtg_get_tra_cmd_control_status() [1/2]

static uint32_t mtg_get_tra_cmd_control_status	(	MTG_Type *	base,
		uint8_t	tra_index,
		uint8_t	cmd_index
	)

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG get trajectory predictor commond control register value.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index
[in]	cmd_index	- trajectory predicotr command index

Return values

control register value

◆ mtg_get_tra_cmd_control_status() [2/2]

static uint32_t mtg_get_tra_cmd_control_status	(	MTGV2_Type *	base,
		uint8_t	tra_index,
		uint8_t	cmd_index
	)

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG get trajectory predictor commond control register value.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index
[in]	cmd_index	- trajectory predicotr command index

Return values

control register value

◆ mtg_get_tra_control_status() [1/2]

static uint32_t mtg_get_tra_control_status	(	MTG_Type *	base,
		uint8_t	tra_index
	)

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG get trajectory predictor control register value.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index

Return values

control register value

◆ mtg_get_tra_control_status() [2/2]

static uint32_t mtg_get_tra_control_status	(	MTGV2_Type *	base,
		uint8_t	tra_index
	)

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG get trajectory predictor control register value.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index

Return values

control register value

◆ mtg_get_tra_lock_result() [1/2]

void mtg_get_tra_lock_result	(	MTG_Type *	base,
		uint8_t	tra_index,
		mtg_lock_value_t *	para
	)

#include <drivers/inc/hpm_mtg_drv.h>

MTG predictor get lock result.

Parameters

[in]	base	MTG base address
[in]	tra_index	- trajectory predictor index
[out]	para	mtg_lock_value_t

◆ mtg_get_tra_lock_result() [2/2]

void mtg_get_tra_lock_result	(	MTGV2_Type *	base,
		uint8_t	tra_index,
		mtg_lock_value_t *	para
	)

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG predictor get lock result.

Parameters

[in]	base	MTG base address
[in]	tra_index	- trajectory predictor index
[out]	para	mtg_lock_value_t

◆ mtg_get_tra_pos_lock_value() [1/2]

static uint32_t mtg_get_tra_pos_lock_value	(	MTG_Type *	base,
		uint8_t	tra_index
	)

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG get trajectory predictor postion lock value.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index

Return values

trajectory predictor postion value

◆ mtg_get_tra_pos_lock_value() [2/2]

static uint32_t mtg_get_tra_pos_lock_value	(	MTGV2_Type *	base,
		uint8_t	tra_index
	)

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG get trajectory predictor postion lock value.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index

Return values

trajectory predictor postion value

◆ mtg_get_tra_rev_lock_value() [1/2]

static int32_t mtg_get_tra_rev_lock_value	(	MTG_Type *	base,
		uint8_t	tra_index
	)

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG get trajectory predictor revolution lock value.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index

Return values

trajectory predictor revolution value

◆ mtg_get_tra_rev_lock_value() [2/2]

static int32_t mtg_get_tra_rev_lock_value	(	MTGV2_Type *	base,
		uint8_t	tra_index
	)

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG get trajectory predictor revolution lock value.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index

Return values

trajectory predictor revolution value

◆ mtg_get_tra_vel_lock_value() [1/2]

static int32_t mtg_get_tra_vel_lock_value	(	MTG_Type *	base,
		uint8_t	tra_index
	)

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG get trajectory predictor velocity lock value.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index

Return values

trajectory predictor velocity value

◆ mtg_get_tra_vel_lock_value() [2/2]

static int32_t mtg_get_tra_vel_lock_value	(	MTGV2_Type *	base,
		uint8_t	tra_index
	)

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG get trajectory predictor velocity lock value.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index

Return values

trajectory predictor velocity value

◆ mtg_set_global_reset() [1/2]

static void mtg_set_global_reset ( MTG_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG global reset.

Parameters

[in] base - MTG base address

◆ mtg_set_global_reset() [2/2]

static void mtg_set_global_reset ( MTGV2_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG global reset.

Parameters

[in] base - MTG base address

◆ mtg_set_time0_adjust_value() [1/2]

static void mtg_set_time0_adjust_value	(	MTG_Type *	base,
		uint32_t	value
	)

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG set time0 adjust value.

Parameters

[in]	base	- MTG base address
[in]	value	- adjust value

◆ mtg_set_time0_adjust_value() [2/2]

static void mtg_set_time0_adjust_value	(	MTGV2_Type *	base,
		uint32_t	value
	)

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG set time0 adjust value.

Parameters

[in]	base	- MTG base address
[in]	value	- adjust value

◆ mtg_set_time1_adjust_value() [1/2]

static void mtg_set_time1_adjust_value	(	MTG_Type *	base,
		uint32_t	value
	)

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG set time1 adjust value.

Parameters

[in]	base	- MTG base address
[in]	value	- adjust value

◆ mtg_set_time1_adjust_value() [2/2]

static void mtg_set_time1_adjust_value	(	MTGV2_Type *	base,
		uint32_t	value
	)

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG set time1 adjust value.

Parameters

[in]	base	- MTG base address
[in]	value	- adjust value

◆ mtg_setup_event() [1/2]

hpm_stat_t mtg_setup_event	(	MTG_Type *	base,
		uint8_t	event_index,
		mtg_event_param_t *	param
	)

#include <drivers/inc/hpm_mtg_drv.h>

MTG setup event params.

Parameters

[in]	base	MTG base address
[in]	event_index	- event index
[in]	param	- event params
[out]	setup	status

◆ mtg_setup_event() [2/2]

hpm_stat_t mtg_setup_event	(	MTGV2_Type *	base,
		uint8_t	event_index,
		mtg_event_param_t *	param
	)

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG setup event params.

Parameters

[in]	base	MTG base address
[in]	event_index	- event index
[in]	param	- event params
[out]	setup	status

◆ mtg_setup_filter() [1/2]

void mtg_setup_filter	(	MTG_Type *	base,
		mtg_filter_param_t *	param
	)

#include <drivers/inc/hpm_mtg_drv.h>

MTG setup filter.

Parameters

[in]	base	MTG base address
[in]	param	- filter params

◆ mtg_setup_filter() [2/2]

void mtg_setup_filter	(	MTGV2_Type *	base,
		mtg_filter_param_t *	param
	)

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG setup filter.

Parameters

[in]	base	MTG base address
[in]	param	- filter params

◆ mtg_setup_link_cfg() [1/2]

void mtg_setup_link_cfg	(	MTG_Type *	base,
		uint8_t	tra_index,
		mtg_link_cfg_t	link_cfg,
		mtg_tra_cmd_cfg_t *	cmd_cfg
	)

#include <drivers/inc/hpm_mtg_drv.h>

MTG link trigger source and trajectory command.

Parameters

[in]	base	MTG base address
[in]	tra_index	- trajectory index
[in]	link_cfg	- link config
[in]	cmd_cfg	- command config

◆ mtg_setup_link_cfg() [2/2]

void mtg_setup_link_cfg	(	MTGV2_Type *	base,
		uint8_t	tra_index,
		mtg_link_cfg_t	link_cfg,
		mtg_tra_cmd_cfg_t *	cmd_cfg
	)

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG link trigger source and trajectory command.

Parameters

[in]	base	MTG base address
[in]	tra_index	- trajectory index
[in]	link_cfg	- link config
[in]	cmd_cfg	- command config

◆ mtg_setup_time() [1/2]

void mtg_setup_time	(	MTG_Type *	base,
		mtg_time_init_param_t *	param
	)

#include <drivers/inc/hpm_mtg_drv.h>

MTG setup time compensation module.

Parameters

[in]	base	MTG base address
[in]	param	- time compensation params

◆ mtg_setup_time() [2/2]

void mtg_setup_time	(	MTGV2_Type *	base,
		mtg_time_init_param_t *	param
	)

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG setup time compensation module.

Parameters

[in]	base	MTG base address
[in]	param	- time compensation params

◆ mtg_setup_timeout() [1/2]

void mtg_setup_timeout	(	MTG_Type *	base,
		mtg_timeout_param_t *	param
	)

#include <drivers/inc/hpm_mtg_drv.h>

MTG setup timeout.

Parameters

[in]	base	MTG base address
[in]	param	- timeout params

◆ mtg_setup_timeout() [2/2]

void mtg_setup_timeout	(	MTGV2_Type *	base,
		mtg_timeout_param_t *	param
	)

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG setup timeout.

Parameters

[in]	base	MTG base address
[in]	param	- timeout params

◆ mtg_setup_tra_hardware_pos_one_way_mode() [1/2]

void mtg_setup_tra_hardware_pos_one_way_mode	(	MTG_Type *	base,
		uint8_t	tra_index,
		mtg_hardware_force_one_way_mode_t *	param
	)

#include <drivers/inc/hpm_mtg_drv.h>

MTG setup trajectory hardware one_way mode.

Parameters

[in]	base	MTG base address
[in]	tra_index	- trajectory index
[in]	param	- 0:force + , 1:force -
[out]	setup	status

◆ mtg_setup_tra_hardware_pos_one_way_mode() [2/2]

void mtg_setup_tra_hardware_pos_one_way_mode	(	MTGV2_Type *	base,
		uint8_t	tra_index,
		mtg_hardware_force_one_way_mode_t *	param
	)

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG setup trajectory hardware one_way mode.

Parameters

[in]	base	MTG base address
[in]	tra_index	- trajectory index
[in]	param	- 0:force + , 1:force -
[out]	setup	status

◆ mtg_setup_tra_limit() [1/2]

hpm_stat_t mtg_setup_tra_limit	(	MTG_Type *	base,
		uint8_t	tra_index,
		mtg_tra_limit_param_t *	param
	)

#include <drivers/inc/hpm_mtg_drv.h>

MTG setup trajectory limit params.

Parameters

[in]	base	MTG base address
[in]	tra_index	- trajectory index
[in]	param	- trajectory limit params
[out]	setup	status

◆ mtg_setup_tra_limit() [2/2]

hpm_stat_t mtg_setup_tra_limit	(	MTGV2_Type *	base,
		uint8_t	tra_index,
		mtg_tra_limit_param_t *	param
	)

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG setup trajectory limit params.

Parameters

[in]	base	MTG base address
[in]	tra_index	- trajectory index
[in]	param	- trajectory limit params
[out]	setup	status

◆ mtg_setup_tra_software_pos_one_way_mode() [1/2]

void mtg_setup_tra_software_pos_one_way_mode	(	MTG_Type *	base,
		uint8_t	tra_index,
		mtg_software_force_one_way_mode_t	param
	)

#include <drivers/inc/hpm_mtg_drv.h>

MTG setup trajectory software one_way mode.

Parameters

[in]	base	MTG base address
[in]	tra_index	- trajectory index
[in]	param	- 0:force + , 1:force -
[out]	setup	status

◆ mtg_setup_tra_software_pos_one_way_mode() [2/2]

void mtg_setup_tra_software_pos_one_way_mode	(	MTGV2_Type *	base,
		uint8_t	tra_index,
		mtg_software_force_one_way_mode_t	param
	)

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG setup trajectory software one_way mode.

Parameters

[in]	base	MTG base address
[in]	tra_index	- trajectory index
[in]	param	- 0:force + , 1:force -
[out]	setup	status

◆ mtg_setup_tra_vel_one_way() [1/2]

void mtg_setup_tra_vel_one_way	(	MTG_Type *	base,
		uint8_t	tra_index,
		vel_one_way_mode_t	mode,
		bool	enable
	)

#include <drivers/inc/hpm_mtg_drv.h>

MTG setup trajectory velocity one_way mode.

Parameters

[in]	base	MTG base address
[in]	tra_index	- trajectory index
[in]	mode	- 0:bigger_or_eq_zero , 1:smaller_or_eq_zero

◆ mtg_setup_tra_vel_one_way() [2/2]

void mtg_setup_tra_vel_one_way	(	MTGV2_Type *	base,
		uint8_t	tra_index,
		vel_one_way_mode_t	mode,
		bool	enable
	)

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG setup trajectory velocity one_way mode.

Parameters

[in]	base	MTG base address
[in]	tra_index	- trajectory index
[in]	mode	- 0:bigger_or_eq_zero , 1:smaller_or_eq_zero

◆ mtg_soft_event_trigger() [1/2]

void mtg_soft_event_trigger ( MTG_Type * base )

#include <drivers/inc/hpm_mtg_drv.h>

MTG software trigger trajectory command.

Parameters

[in] base MTG base address

◆ mtg_soft_event_trigger() [2/2]

void mtg_soft_event_trigger ( MTGV2_Type * base )

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG software trigger trajectory command.

Parameters

[in] base MTG base address

◆ mtg_stop_global_reset() [1/2]

static void mtg_stop_global_reset ( MTG_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG stop global reset.

◆ mtg_stop_global_reset() [2/2]

static void mtg_stop_global_reset ( MTGV2_Type * base )

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG stop global reset.

◆ mtg_tra_set_shift() [1/2]

static void mtg_tra_set_shift	(	MTG_Type *	base,
		uint8_t	index,
		uint8_t	jer_shift,
		uint8_t	acc_shift,
		uint8_t	vel_shift
	)

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG set time shift value.

Parameters

[in]	base	- MTG base address
[in]	index	- tra index
[in]	jer_shift	- jerk shift
[in]	acc_shift	- acceleration shift
[in]	vel_shift	- velocity shift

◆ mtg_tra_set_shift() [2/2]

static void mtg_tra_set_shift	(	MTGV2_Type *	base,
		uint8_t	index,
		uint8_t	jer_shift,
		uint8_t	acc_shift,
		uint8_t	vel_shift
	)

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG set time shift value.

Parameters

[in]	base	- MTG base address
[in]	index	- tra index
[in]	jer_shift	- jerk shift
[in]	acc_shift	- acceleration shift
[in]	vel_shift	- velocity shift

◆ mtg_trig_tra_lock() [1/2]

static void mtg_trig_tra_lock	(	MTG_Type *	base,
		uint8_t	tra_index
	)

inlinestatic

#include <drivers/inc/hpm_mtg_drv.h>

MTG trigger trajectory predictor lock current values.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index

◆ mtg_trig_tra_lock() [2/2]

static void mtg_trig_tra_lock	(	MTGV2_Type *	base,
		uint8_t	tra_index
	)

inlinestatic

#include <drivers/inc/hpm_mtgv2_drv.h>

MTG trigger trajectory predictor lock current values.

Parameters

[in]	base	- MTG base address
[in]	tra_index	- trajectory predictor index

Data Structures

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ mtg_event_dir_mode_t [1/2]

◆ mtg_event_dir_mode_t [2/2]

◆ mtg_event_dir_t [1/2]

◆ mtg_event_dir_t [2/2]

◆ mtg_event_mode_t [1/2]

◆ mtg_event_mode_t [2/2]

◆ mtg_event_object_t [1/2]

◆ mtg_event_object_t [2/2]

◆ mtg_event_over_mode_cmp_t [1/2]

◆ mtg_event_over_mode_cmp_t [2/2]

◆ mtg_event_param_t [1/2]

◆ mtg_event_param_t [2/2]

◆ mtg_event_trig_num_t [1/2]

◆ mtg_event_trig_num_t [2/2]

◆ mtg_evnet_object_postion_t [1/2]

◆ mtg_evnet_object_postion_t [2/2]

◆ mtg_filter_err_bypass_mode_t

◆ mtg_filter_ff_mode_t [1/2]

◆ mtg_filter_ff_mode_t [2/2]

◆ mtg_filter_first_load_mode_t

◆ mtg_filter_param_t [1/2]

◆ mtg_filter_param_t [2/2]

◆ mtg_filter_rev_init_mode_t

◆ mtg_filter_rev_judge_mode_t

◆ mtg_hardware_force_one_way_mode_t [1/2]

◆ mtg_hardware_force_one_way_mode_t [2/2]

◆ mtg_irq_enable_t

◆ mtg_link_cfg_t [1/2]

◆ mtg_link_cfg_t [2/2]

◆ mtg_lock_value_t [1/2]

◆ mtg_lock_value_t [2/2]

◆ mtg_software_force_one_way_mode_t [1/2]

◆ mtg_software_force_one_way_mode_t [2/2]

◆ mtg_time_init_param_t [1/2]

◆ mtg_time_init_param_t [2/2]

◆ mtg_time_input_source_t [1/2]

◆ mtg_time_input_source_t [2/2]

◆ mtg_timeout_param_t [1/2]

◆ mtg_timeout_param_t [2/2]

◆ mtg_tra_cmd_cfg_t [1/2]

◆ mtg_tra_cmd_cfg_t [2/2]

◆ mtg_tra_limit_param_t [1/2]

◆ mtg_tra_limit_param_t [2/2]

◆ mtg_tra_shift_t [1/2]

◆ mtg_tra_shift_t [2/2]

◆ vel_one_way_mode_t [1/2]

◆ vel_one_way_mode_t [2/2]

Enumeration Type Documentation

◆ mtg_event_dir [1/2]

◆ mtg_event_dir [2/2]

◆ mtg_event_dir_mode [1/2]

◆ mtg_event_dir_mode [2/2]

◆ mtg_event_mode [1/2]

◆ mtg_event_mode [2/2]

◆ mtg_event_object [1/2]

◆ mtg_event_object [2/2]

◆ mtg_event_over_mode_cmp [1/2]

◆ mtg_event_over_mode_cmp [2/2]

◆ mtg_event_trig_num [1/2]

◆ mtg_event_trig_num [2/2]

◆ mtg_evnet_object_postion [1/2]

◆ mtg_evnet_object_postion [2/2]

◆ mtg_filter_err_bypass_mode

◆ mtg_filter_ff_mode [1/2]

◆ mtg_filter_ff_mode [2/2]

◆ mtg_filter_first_load_mode

◆ mtg_filter_rev_init_mode

◆ mtg_filter_rev_judge_mode

◆ mtg_irq_enable

◆ mtg_link_cfg [1/2]

◆ mtg_link_cfg [2/2]

◆ mtg_link_cmd_mode_t [1/2]

◆ mtg_link_cmd_mode_t [2/2]

◆ mtg_software_force_one_way_mode [1/2]