PulseEngineV2

pokeys_lib::pulse_engine

Struct PulseEngineV2 

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pub struct PulseEngineV2 {
Show 93 fields
    pub info: PulseEngineV2Info,
    pub axes_state: [u8; 8],
    pub axes_config: [u8; 8],
    pub axes_switch_config: [u8; 8],
    pub current_position: [i32; 8],
    pub position_setup: [i32; 8],
    pub reference_position_speed: [i32; 8],
    pub invert_axis_enable: [i8; 8],
    pub soft_limit_maximum: [i32; 8],
    pub soft_limit_minimum: [i32; 8],
    pub homing_speed: [u8; 8],
    pub homing_return_speed: [u8; 8],
    pub home_offsets: [i32; 8],
    pub homing_algorithm: [u8; 8],
    pub filter_limit_m_switch: [u8; 8],
    pub filter_limit_p_switch: [u8; 8],
    pub filter_home_switch: [u8; 8],
    pub probe_position: [i32; 8],
    pub probe_max_position: [i32; 8],
    pub max_speed: [f32; 8],
    pub max_acceleration: [f32; 8],
    pub max_deceleration: [f32; 8],
    pub mpg_jog_multiplier: [i32; 8],
    pub mpg_jog_encoder: [u8; 8],
    pub pin_home_switch: [u8; 8],
    pub pin_limit_m_switch: [u8; 8],
    pub pin_limit_p_switch: [u8; 8],
    pub axis_enable_output_pins: [u8; 8],
    pub home_back_off_distance: [u32; 8],
    pub mpg_jog_divider: [u16; 8],
    pub filter_probe_input: u8,
    pub axis_signal_options: [u8; 8],
    pub reference_velocity_pv: [f32; 8],
    pub pulse_engine_enabled: u8,
    pub pulse_generator_type: u8,
    pub charge_pump_enabled: u8,
    pub emergency_switch_polarity: u8,
    pub pulse_engine_activated: u8,
    pub limit_status_p: u8,
    pub limit_status_n: u8,
    pub home_status: u8,
    pub error_input_status: u8,
    pub misc_input_status: u8,
    pub limit_override: u8,
    pub limit_override_setup: u8,
    pub pulse_engine_state: u8,
    pub axis_enabled_mask: u8,
    pub emergency_input_pin: u8,
    pub sync_fast_outputs_axis_id: u8,
    pub sync_fast_outputs_mapping: [u8; 8],
    pub param1: u8,
    pub param2: u8,
    pub param3: u8,
    pub axis_enabled_states_mask: u8,
    pub pulse_engine_state_setup: u8,
    pub soft_limit_status: u8,
    pub external_relay_outputs: u8,
    pub external_oc_outputs: u8,
    pub pulse_engine_buffer_size: u8,
    pub motion_buffer_entries_accepted: u8,
    pub new_motion_buffer_entries: u8,
    pub homing_start_mask_setup: u8,
    pub probe_start_mask_setup: u8,
    pub probe_input: u8,
    pub probe_input_polarity: u8,
    pub probe_status: u8,
    pub motion_buffer: Vec<u8>,
    pub probe_speed: f32,
    pub debug_values: [u32; 16],
    pub backlash_width: [u16; 8],
    pub backlash_register: [i16; 8],
    pub backlash_acceleration: [u8; 8],
    pub backlash_compensation_enabled: u8,
    pub backlash_compensation_max_speed: u8,
    pub trigger_preparing: u8,
    pub trigger_prepared: u8,
    pub trigger_pending: u8,
    pub trigger_active: u8,
    pub spindle_speed_estimate: i32,
    pub spindle_position_error: i32,
    pub motor_step_setting: [u8; 4],
    pub motor_current_setting: [u8; 4],
    pub spindle_rpm: u32,
    pub spindle_index_counter: u32,
    pub dedicated_limit_n_inputs: u8,
    pub dedicated_limit_p_inputs: u8,
    pub dedicated_home_inputs: u8,
    pub trigger_ignored_axis_mask: u8,
    pub encoder_index_count: u32,
    pub encoder_ticks_per_rotation: u32,
    pub encoder_velocity: u32,
    pub internal_driver_step_config: [u8; 4],
    pub internal_driver_current_config: [u8; 4],

}
Expand description

Pulse Engine v2 main structure

Fields§

§info: PulseEngineV2Info§axes_state: [u8; 8]§axes_config: [u8; 8]§axes_switch_config: [u8; 8]§current_position: [i32; 8]§position_setup: [i32; 8]§reference_position_speed: [i32; 8]§invert_axis_enable: [i8; 8]§soft_limit_maximum: [i32; 8]§soft_limit_minimum: [i32; 8]§homing_speed: [u8; 8]§homing_return_speed: [u8; 8]§home_offsets: [i32; 8]§homing_algorithm: [u8; 8]§filter_limit_m_switch: [u8; 8]§filter_limit_p_switch: [u8; 8]§filter_home_switch: [u8; 8]§probe_position: [i32; 8]§probe_max_position: [i32; 8]§max_speed: [f32; 8]§max_acceleration: [f32; 8]§max_deceleration: [f32; 8]§mpg_jog_multiplier: [i32; 8]§mpg_jog_encoder: [u8; 8]§pin_home_switch: [u8; 8]§pin_limit_m_switch: [u8; 8]§pin_limit_p_switch: [u8; 8]§axis_enable_output_pins: [u8; 8]§home_back_off_distance: [u32; 8]§mpg_jog_divider: [u16; 8]§filter_probe_input: u8§axis_signal_options: [u8; 8]§reference_velocity_pv: [f32; 8]§pulse_engine_enabled: u8§pulse_generator_type: u8§charge_pump_enabled: u8§emergency_switch_polarity: u8§pulse_engine_activated: u8§limit_status_p: u8§limit_status_n: u8§home_status: u8§error_input_status: u8§misc_input_status: u8§limit_override: u8§limit_override_setup: u8§pulse_engine_state: u8§axis_enabled_mask: u8§emergency_input_pin: u8§sync_fast_outputs_axis_id: u8§sync_fast_outputs_mapping: [u8; 8]§param1: u8§param2: u8§param3: u8§axis_enabled_states_mask: u8§pulse_engine_state_setup: u8§soft_limit_status: u8§external_relay_outputs: u8§external_oc_outputs: u8§pulse_engine_buffer_size: u8§motion_buffer_entries_accepted: u8§new_motion_buffer_entries: u8§homing_start_mask_setup: u8§probe_start_mask_setup: u8§probe_input: u8§probe_input_polarity: u8§probe_status: u8§motion_buffer: Vec<u8>§probe_speed: f32§debug_values: [u32; 16]§backlash_width: [u16; 8]§backlash_register: [i16; 8]§backlash_acceleration: [u8; 8]§backlash_compensation_enabled: u8§backlash_compensation_max_speed: u8§trigger_preparing: u8§trigger_prepared: u8§trigger_pending: u8§trigger_active: u8§spindle_speed_estimate: i32§spindle_position_error: i32§motor_step_setting: [u8; 4]§motor_current_setting: [u8; 4]§spindle_rpm: u32§spindle_index_counter: u32§dedicated_limit_n_inputs: u8§dedicated_limit_p_inputs: u8§dedicated_home_inputs: u8§trigger_ignored_axis_mask: u8§encoder_index_count: u32§encoder_ticks_per_rotation: u32§encoder_velocity: u32§internal_driver_step_config: [u8; 4]§internal_driver_current_config: [u8; 4]

Implementations§

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impl PulseEngineV2

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pub fn new() -> Self

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pub fn is_enabled(&self) -> bool

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pub fn is_activated(&self) -> bool

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pub fn get_state(&self) -> PulseEngineState

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pub fn get_generator_type(&self) -> u8

Get pulse generator type (bits 0-3)

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pub fn get_generator_type_description(&self) -> &'static str

Get pulse generator type description

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pub fn is_step_dir_swapped(&self) -> bool

Check if step/dir signals are swapped (bit 6)

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pub fn is_extended_io_enabled(&self) -> bool

Check if external extended IO features are enabled (bit 7)

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pub fn get_axis_state(&self, axis: usize) -> PulseEngineAxisState

Get axis state for a specific axis

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pub fn is_axis_limit_positive(&self, axis: usize) -> bool

Check if axis has positive limit switch triggered

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pub fn is_axis_limit_negative(&self, axis: usize) -> bool

Check if axis has negative limit switch triggered

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pub fn is_axis_home(&self, axis: usize) -> bool

Check if axis is at home position

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pub fn is_axis_soft_limit(&self, axis: usize) -> bool

Check if axis has soft limit triggered

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pub fn is_axis_enabled(&self, axis: usize) -> bool

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pub fn is_axis_homed(&self, axis: usize) -> bool

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pub fn is_limit_triggered(&self, axis: usize, positive: bool) -> bool

Trait Implementations§

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impl Clone for PulseEngineV2

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fn clone(&self) -> PulseEngineV2

Returns a duplicate of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for PulseEngineV2

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more
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impl Default for PulseEngineV2

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fn default() -> Self

Returns the “default value” for a type. Read more
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impl<'de> Deserialize<'de> for PulseEngineV2

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fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more
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impl Serialize for PulseEngineV2

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fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>
where __S: Serializer,

Serialize this value into the given Serde serializer. Read more

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fn borrow_mut(&mut self) -> &mut T

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

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