Hardware manual

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Function
int tpu_irc_ap2hw (struct pxmc_state * mcs)
Arguments
mcs
Motion controller state information
Description
The function updates pxms_ptofs and reads IRC. It need to be called if pxms_ap is changed by
the application.
Function
int motor_do_input_test (struct pxmc_state * mcs)
Arguments
mcs
Motion controller state information
Description
Function works in exactly the same manner as motor_do_input. The only purpose for it is that it
should be used whenever we make some tests with new functionality of the input function.
Function
int motor_do_output_test (struct pxmc_state * mcs)
Arguments
mcs
Motion controller state information
Description
Function works in exactly the same manner as motor_do_output. The only purpose for it is that
it should be used whenever we make some tests with new functionality of the output function.