Hardware manual

80
A.3 The documentation for brushless.c:
Function
int cmd_do_quit (cmd_io_t * cmd_io, const struct cmd_des * des, char * * param)
Arguments
Description
It is implementation of quit command. This function/command should make software reset of
H8S/2638 by use of a watchdog.
Function
int cmd_do_setflags (cmd_io_t * cmd_io, const struct cmd_des * des, char * * param)
Arguments
Description
It is implementation of setflags command. This function/command enables PXMS_PTI_b and
PXMS_PHA_b flags for 1st motor. It does it by force without checking of index mark and hall
sensors.
Function
int cmd_do_haltest (cmd_io_t * cmd_io, const struct cmd_des * des, char * * param)
Arguments
Description
It is implementation of haltest command. This function/command tests hall sensor. It displies for
the given motor: index, hall sensor value, actual position and pxms_ptofs. As the parameter to the
command which is implemented by this funciton we need to give the number of the motor for
which we want to test hall.