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Код: Выделить всё

component pluto_step 

description 

pin in float stepgen.#.position-cmd[4];
pin out float stepgen.#.velocity-fb[4];
pin out float stepgen.#.position-fb[4];
pin out s32 stepgen.#.counts[4];
pin in bit stepgen.#.enable[4];
pin in bit stepgen.#.reset[4] "When TRUE, reset position-fb to 0";
param rw float stepgen.#.scale[4] = 1.0;
param rw float stepgen.#.maxvel[4] = 0;
param rw bit stepgen.step_polarity;

param rw u32 stepgen.steplen "Step length in ns.";
param rw u32 stepgen.stepspace "Step space in ns";
param rw u32 stepgen.dirtime "Dir hold/setup in ns.  Refer to the pdf documentation for a diagram of what these timings mean.";

pin in bit dout.##[14]

param rw bit dout.##-invert[14]


pin out bit din.##[16];
pin out bit din.##_not[16]


param rw u32 communication_error 

param rw s32 debug_0;
param rw s32 debug_1;
param rw float debug_2=.5;
param rw float debug_3=2.0


option singleton;
option extra_setup;
option extra_cleanup;

option data internal;

function read "Read all the inputs from the pluto-step board";
function write "Write all the outputs on the pluto-step board"