int epos_input_set_channel_func(epos_input_p input, int channel,
epos_input_func_type_t type) {
int result = EPOS_DEVICE_ERROR_NONE;
short t = EPOS_INPUT_RESERVED_FUNC;
int enabled = input->funcs[type].enabled;
if (input->funcs[type].channel) {
if (!(result = epos_device_write(input->dev, EPOS_INPUT_INDEX_CONFIG,
input->funcs[type].channel, (unsigned char*)&t, sizeof(short)))) {
input->channels[input->funcs[type].channel-1] = EPOS_INPUT_DUMMY_FUNC;
input->funcs[type].channel = 0;
}
else
return result;
}
if (channel) {
t = type;
if (!(result = epos_device_write(input->dev, EPOS_INPUT_INDEX_CONFIG,
channel, (unsigned char*)&t, sizeof(short)))) {
input->channels[channel-1] = type;
input->funcs[type].channel = channel;
}
}
return result;
}
int epos_position_profile_set_velocity(epos_device_t* dev, unsigned int
velocity) {
return epos_device_write(dev, EPOS_POSITION_PROFILE_INDEX_VELOCITY, 0,
(unsigned char*)&velocity, sizeof(unsigned int));
return dev->error.code;
}
int epos_sensor_set_pulses(epos_sensor_t* sensor, int num_pulses) {
if (sensor->dev->hardware_generation == 1) {
short pulses_short = num_pulses;;
epos_device_write(sensor->dev, EPOS_SENSOR_INDEX_CONFIGURATION,
EPOS_SENSOR_SUBINDEX_PULSES, (unsigned char*)&pulses_short,
sizeof(short));
}
else
epos_device_write(sensor->dev, EPOS_SENSOR_INDEX_CONFIGURATION,
EPOS_SENSOR_SUBINDEX_PULSES, (unsigned char*)&num_pulses, sizeof(int));
if (!sensor->dev->error.code)
sensor->num_pulses = num_pulses;
return sensor->dev->error.code;
}
int epos_home_set_acceleration(epos_device_t* dev, unsigned int
acceleration) {
epos_device_write(dev, EPOS_HOME_INDEX_ACCELERATION, 0,
(unsigned char*)&acceleration, sizeof(unsigned int));
return dev->error.code;
}
int epos_home_set_zero_search_velocity(epos_device_t* dev, unsigned int
velocity) {
epos_device_write(dev, EPOS_HOME_INDEX_VELOCITIES,
EPOS_HOME_SUBINDEX_ZERO_SEARCH_VELOCITY, (unsigned char*)&velocity,
sizeof(unsigned int));
return dev->error.code;
}
int epos_sensor_set_type(epos_sensor_t* sensor, epos_sensor_type_t type) {
if (epos_device_write(sensor->dev, EPOS_SENSOR_INDEX_CONFIGURATION,
EPOS_SENSOR_SUBINDEX_TYPE, (unsigned char*)&epos_sensor_types[type],
sizeof(short)) > 0)
sensor->type = type;
return sensor->dev->error.code;
}
int epos_sensor_set_polarity(epos_sensor_t* sensor, epos_sensor_polarity_t
polarity) {
if (epos_device_write(sensor->dev, EPOS_SENSOR_INDEX_CONFIGURATION,
EPOS_SENSOR_SUBINDEX_POLARITY,
(unsigned char*)&epos_sensor_polarities[polarity], sizeof(short)) > 0)
sensor->polarity = polarity;
return sensor->dev->error.code;
}
int epos_input_set_enabled(epos_input_p input, short enabled) {
int result;
if (!(result = epos_device_write(input->dev, EPOS_INPUT_INDEX_FUNCS,
EPOS_INPUT_SUBINDEX_MASK, (unsigned char*)&enabled, sizeof(short))))
input->enabled = enabled;
return result;
}
int epos_input_set_execute(epos_input_p input, short execute) {
int result;
if (!(result = epos_device_write(input->dev, EPOS_INPUT_INDEX_FUNCS,
EPOS_INPUT_SUBINDEX_EXECUTE, (unsigned char*)&execute, sizeof(short))))
input->execute = execute;
return result;
}
int epos_input_set_polarity(epos_input_p input, short polarity) {
int result;
if (!(result = epos_device_write(input->dev, EPOS_INPUT_INDEX_FUNCS,
EPOS_INPUT_SUBINDEX_POLARITY, (unsigned char*)&polarity, sizeof(short))))
input->polarity = polarity;
return result;
}
int epos_control_set_type(epos_control_p control, epos_control_type_t type) {
char t = type;
int result = epos_device_write(control->dev, EPOS_CONTROL_INDEX_MODE, 0,
&t, 1);
if (!result)
control->type = type;
return result;
}
int epos_home_set_method(epos_device_t* dev, epos_home_method_t method) {
epos_device_write(dev, EPOS_HOME_INDEX_METHOD, 0,
(unsigned char*)&epos_home_methods[method], 1);
return dev->error.code;
}
int epos_home_set_position(epos_device_t* dev, int position) {
epos_device_write(dev, EPOS_HOME_INDEX_POSITION, 0,
(unsigned char*)&position, sizeof(int));
return dev->error.code;
}
int epos_home_set_offset(epos_device_t* dev, int offset) {
epos_device_write(dev, EPOS_HOME_INDEX_OFFSET, 0,
(unsigned char*)&offset, sizeof(int));
return dev->error.code;
}
int epos_velocity_set_demand(epos_device_p dev, int velocity) {
return epos_device_write(dev, EPOS_VELOCITY_INDEX_SETTING_VALUE, 0,
(unsigned char*)&velocity, sizeof(int));
}
int epos_position_profile_set_target(epos_device_t* dev, int position) {
epos_device_write(dev, EPOS_POSITION_PROFILE_INDEX_TARGET, 0,
(unsigned char*)&position, sizeof(int));
return dev->error.code;
}
int epos_home_set_current_threshold(epos_device_t* dev, short current) {
epos_device_write(dev, EPOS_HOME_INDEX_CURRENT_THRESHOLD, 0,
(unsigned char*)¤t, sizeof(short));
return dev->error.code;
}
int epos_velocity_set_i_gain(epos_device_p dev, short i_gain) {
return epos_device_write(dev, EPOS_VELOCITY_INDEX_CONTROL_PARAMETERS,
EPOS_VELOCITY_SUBINDEX_I_GAIN, (unsigned char*)&i_gain, sizeof(short));
}
int epos_error_clear_history(epos_device_p dev) {
unsigned char length = 0;
return epos_device_write(dev, EPOS_ERROR_INDEX_HISTORY,
EPOS_ERROR_SUBINDEX_HISTORY_LENGTH, &length, 1);
}
