MPICompareConfig
Declaration
typedef struct MPICompareConfig {
int32_t motorNumber;
int32_t engineNumber;
MPICompareConfigFeedbackSelect feedbackSelect;
MPICompareConfigOutputInvert outputInvert;
MPICompareConfigMode compareMode;
MPICompareConfigBufferSize bufferSize;
MPICompareCompensate positionCompensation;
double userCompensationValue;
int compareWidth;
}MPICompareConfig;
Required Header: compare.h
Change History: 04.04.00
Description
MPICompareConfig specifies configuration for the compare module for one engine.
| motorNumber | The number of the motor associated with the compare object. |
| engineNumber | The compare engine number to be used. |
| feedbackSelect | Use one of the valid enumeration to select between time, primary or secondary. |
| outputInvert | Use one of the valid enumeration to select between normal or inverted output. |
| compareMode | Use one of the valid enumeration to select between single, streamed, multiple or delta mode. |
| bufferSize | Use one of the valid enumeration to select between 1, 2, 4, 8, 16. |
| positionCompensation | Use one of the valid enumeration to select between axis origin, raw encoder value or user compensation value |
| userCompensationValue | Stores the user compensation value. Only used if user compensation selected at positionCompensation field. |
| compareWidth | This read-only field updates the width of the hardware comparator inside the FPGA. It may differ for each node type and each feedback source. Smallest value is 32 bits and largest value is 64 bits. (See discussion on quadrant comparator). |
Sample Code
This code fragment shows how to configure a compare module:
/*Configure compare module to have a streaming mode of operation
*with a cyclic buffer having depth of 16 words.
*Also to monitor the Primary feedback of motor 0 for the position and
*to invert the output event signal*/
MPICompareConfig compareConfig;
compareConfig.motorNumber = 0;
compareConfig.engineNumber = 0;
compareConfig.compareMode = MPICompareConfigModeSTREAMING;
compareConfig.bufferSize = MPICompareConfigBufferSize16_WORDS;
compareConfig.feedbackSelect = ICompareConfigFeedbackSelectPRIMARY_FEEDBACK_DATA;
compareConfig.outputInvert = MPICompareConfigOutputInvertInvertOutputPolarity;
compareConfig.positionCompensation = MPICompareCompensateRAW_VALUE;
See Also