source: trunk/MagicSoft/Cosy/devdrv/macs.cc@ 2257

Last change on this file since 2257 was 2019, checked in by tbretz, 23 years ago
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File size: 20.8 KB
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1#include "macs.h"
2
3#include <iostream.h>
4#include <sys/time.h> // timeval->tv_sec
5
6#include "timer.h"
7#include "network.h"
8#include "MLogManip.h"
9
10ClassImp(Macs);
11
12/*
13 ---------------------------
14 For test purposes
15 ---------------------------
16
17class MyTimer : public TTimer
18{
19public:
20 MyTimer(TObject *obj, Long_t ms, Bool_t mode) : TTimer(obj, ms, mode) {}
21 Bool_t Notify()
22 {
23 cout << "Notify" << endl;
24 TTimer::Notify();
25 return kTRUE;
26 }
27};
28*/
29
30Macs::Macs(const BYTE_t nodeid, const char *name, MLog &out)
31 : NodeDrv(nodeid, name, out), fMacId(2*nodeid+1),
32 fPos(0), fPosTime(0.0), fPdoPos(0), fPdoTime(0.0),
33 fPosActive(0), fRpmActive(0), fStatusPdo3(0xff)
34{
35// fTimeout = new TTimer(this, 100); //, kFALSE); // 100ms, asynchronous
36}
37
38Macs::~Macs()
39{
40 //fTimerOn = kFALSE;
41 // delete fTimeout;
42}
43
44void Macs::HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv)
45{
46 // cout << "SdoRx: Idx=0x"<< hex << idx << "/" << (int)subidx;
47 // cout << ", val=0x" << val << endl;
48 switch (idx)
49 {
50 case 0x1003:
51 // FIXME, see Init
52 if (subidx!=2)
53 return;
54 lout << "- " << GetNodeName() << ": Error[0]=" << dec << val << endl;
55 SetError(val);
56 return;
57
58 case 0x100a:
59 lout << "- " << GetNodeName() << ": Using Software Version V" << dec << (int)(val>>16) << "." << (int)(val&0xff) << endl;
60 fSoftVersion = val;
61 return;
62
63 case 0x100b:
64 // Do not display, this is used for CheckConnection
65 // lout << "Node ID: " << dec << val << endl;
66 return;
67
68 case 0x2002:
69 cout << GetNodeName() << ": Current velocity: " << dec << val << endl;
70 fVel = val;
71 return;
72
73 case 0x6004:
74 if (subidx)
75 return;
76
77// lout << "Actual Position: " << dec << (signed long)val << endl;
78 fPos = (LWORDS_t)val;
79 fPosTime.SetTimer(tv);
80 return;
81/*
82 case 0x2001:
83 cout << "Axe Status: 0x" << hex << val << endl;
84 cout << " - Motor " << (val&0x01?"standing":"moving") << endl;
85 cout << " - Positioning " << (val&0x02?"active":"inactive") << endl;
86 cout << " - Rotary mode " << (val&0x04?"active":"inactive") << endl;
87 cout << " - Attitude control: " << (val&0x40?"off":"on") << endl;
88 cout << " - Axe resetted: " << (val&0x80?"yes":"no") << endl;
89 fPosActive = val&0x02;
90 fRpmActive = val&0x04;
91 return;
92 case 0x2003:
93 if (!subidx)
94 {
95 cout << "Input State: ";
96 for (int i=0; i<8; i++)
97 cout << (int)(val&(1<<i)?1:0);
98 cout <<endl;
99 return;
100 }
101 cout << "Input No." << subidx << (val?"hi":"lo") << endl;
102 return;
103 case 0x2004:
104 cout << "Status Value of Axis: 0x" << hex << val << endl;
105 cout << " - Attitude control: " << (val&0x800000?"off":"on") << endl;
106 cout << " - Movement done: " << (val&0x040000?"yes":"no") << endl;
107 cout << " - Number of Control Units: " << (int)((val>>8)&0xff) << endl;
108 cout << " - Attitude control: " << (val&0x04?"off":"on") << endl;
109 cout << " - Startswitch active: " << (val&0x20?"yes":"no") << endl;
110 cout << " - Referenceswitch active: " << (val&0x40?"yes":"no") << endl;
111 cout << " - Endswitch active: " << (val&0x80?"yes":"no") << endl;
112 return;
113*/
114
115 case 0x6002:
116 lout << "- " << GetNodeName() << ": Velocity resolution = " << dec << val << " ticks/min" << endl;
117 fVelRes = val;
118 return;
119
120 case 0x6501:
121 lout << "- " << GetNodeName() << ": Encoder resolution = " << dec << val << " ticks/min" << endl;
122 fRes = val;
123 return;
124 }
125 cout << "Macs: SDO, idx=0x"<< hex << idx << "/" << (int)subidx;
126 cout << ", val=0x"<<val<<endl;
127}
128
129void Macs::HandleSDOOK(WORD_t idx, BYTE_t subidx, timeval_t *tv)
130{
131// cout << "Node #" << dec << (int)GetId() << ": Sdo=" << hex << idx << "/" << (int)subidx << " set." << endl;
132 switch (idx)
133 {
134 case 0x2002:
135 switch (subidx)
136 {
137 case 0:
138 //lout << ddev(MLog::eGui);
139 lout << "- " << GetNodeName() << ": Velocity set." << endl;
140 //lout << edev(MLog::eGui);
141 return;
142 }
143 break;
144
145 case 0x2003:
146 switch (subidx)
147 {
148 case 0:
149 //lout << ddev(MLog::eGui);
150 lout << "- " << GetNodeName() << ": Acceleration set." << endl;
151 //lout << edev(MLog::eGui);
152 return;
153 case 1:
154 //lout << ddev(MLog::eGui);
155 lout << "- " << GetNodeName() << ": Deceleration set." << endl;
156 //lout << edev(MLog::eGui);
157 return;
158 }
159 break;
160
161 case 0x3006:
162 switch (subidx)
163 {
164 case 0:
165 //lout << ddev(MLog::eGui);
166 lout << "- " << GetNodeName() << ": RPM mode switched." << endl;
167 //lout << edev(MLog::eGui);
168 return;
169
170 case 1:
171 /*
172 lout << ddev(MLog::eGui);
173 lout << "- Velocity set (" << GetNodeName() << ")" << endl;
174 lout << edev(MLog::eGui);
175 */
176 return;
177 }
178 break;
179
180 case 0x4000:
181 HandleNodeguard(tv);
182 return;
183
184 case 0x6004:
185 switch (subidx)
186 {
187 case 0:
188 //lout << ddev(MLog::eGui);
189 lout << "- " << GetNodeName() << ": Absolute positioning started." << endl;
190 //lout << edev(MLog::eGui);
191 return;
192
193 case 1:
194 //lout << ddev(MLog::eGui);
195 lout << "- " << GetNodeName() << ": Relative positioning started." << endl;
196 //lout << edev(MLog::eGui);
197 return;
198 }
199 break;
200
201
202 }
203 NodeDrv::HandleSDOOK(idx, subidx, tv);
204}
205
206void Macs::ReqVelRes()
207{
208 lout << "- " << GetNodeName() << ": Requesting velocity resolution (velres, 0x6002)." << endl;
209 RequestSDO(0x6002);
210 WaitForSdo(0x6002);
211}
212
213void Macs::ReqRes()
214{
215 lout << "- " << GetNodeName() << ": Requesting encoder resolution (res, 0x6501)." << endl;
216 RequestSDO(0x6501);
217 WaitForSdo(0x6501);
218}
219
220void Macs::SetPDO1On(BYTE_t flag)
221{
222 lout << "- " << GetNodeName() << ": " << (flag?"Enable":"Disable") << " PDO1." << endl;
223 SendSDO(0x1800, 1, (LWORD_t)(flag?0:1)<<31);
224 WaitForSdo(0x1800, 1);
225}
226
227void Macs::CheckConnection()
228{
229 RequestSDO(0x100b);
230 WaitForSdo(0x100b);
231}
232
233void Macs::Init()
234{
235 //
236 // Request current error status (FIXME: is the first entry in the
237 // error list)
238 //
239 lout << "- " << GetNodeName() << ": Requesting Error[0]." << endl;
240 RequestSDO(0x1003, 2);
241 WaitForSdo(0x1003, 2);
242 if (HasError())
243 {
244 lout << "Macs::Init: " << GetNodeName() << " has error --> ZOMBIE!" << endl;
245 SetZombie();
246 }
247 if (IsZombieNode())
248 return;
249
250 StopHostGuarding();
251 StopGuarding();
252
253 usleep(2000*GetGuardTime());
254
255 lout << "- " << GetNodeName() << ": Requesting Mac Software Version." << endl;
256 RequestSDO(0x100a);
257 WaitForSdo(0x100a);
258 // FIXME! Not statically linked!
259 if (fSoftVersion<0x00000044) // 00.68
260 {
261 lout << GetNodeName() << " - Software Version too old!" << endl;
262 SetZombie();
263 return;
264 }
265
266 SetRpmMode(FALSE);
267
268 ReqRes(); // Init fRes
269 ReqVelRes(); // Init fVelRes
270
271 lout << "- " << GetNodeName() << ": Motor on." << endl;
272 SendSDO(0x3000, string('o', 'n'));
273 WaitForSdo(0x3000);
274
275 SetPDO1On(FALSE); // this is a workaround for the Macs
276 SetPDO1On(TRUE);
277
278 SetNoWait(TRUE);
279
280// StartGuarding(200, 2, kFALSE); // Using PDO1 @ 100ms
281
282// StartGuarding(250, 4);
283// StartHostGuarding();
284}
285
286void Macs::StopMotor()
287{
288 //
289 // Stop the motor and switch off the position control unit
290 //
291 SendSDO(0x3000, string('s','t','o','p'));
292 WaitForSdo(0x3000);
293}
294
295void Macs::StopDevice()
296{
297 //EnableTimeout(kFALSE);
298
299 SetNoWait(FALSE);
300
301 StopHostGuarding();
302 StopGuarding();
303
304 //
305 // FIXME: This isn't called if the initialization isn't done completely!
306 //
307
308 SetRpmMode(FALSE);
309
310 SetPDO1On(FALSE);
311
312 /*
313 lout << "- " << GetNodeName() << ": Motor off." << endl;
314 SendSDO(0x3000, string('o', 'f', 'f'));
315 WaitForSdo(0x3000);
316 */
317
318 /*
319 lout << "- Stopping Program of " << (int)GetId() << endl;
320 SendSDO(0x4000, (LWORD_t)0xaffe);
321 WaitForSdo();
322 */
323}
324
325void Macs::ReqPos()
326{
327 lout << "- " << GetNodeName() << ": Requesting Position." << endl;
328 RequestSDO(0x6004);
329 WaitForSdo(0x6004);
330}
331
332void Macs::ReqVel()
333{
334 lout << "- " << GetNodeName() << ": Requesting Velocity." << endl;
335 RequestSDO(0x2002);
336 WaitForSdo(0x2002);
337}
338
339void Macs::SetHome(LWORDS_t pos, WORD_t maxtime)
340{
341 StopHostGuarding();
342 StopGuarding();
343
344 lout << "- " << GetNodeName() << ": Driving to home position, Offset=" << dec << pos << endl;
345 SendSDO(0x6003, 2, (LWORD_t)pos); // home
346 WaitForSdo(0x6003, 2);
347
348 // home also defines the zero point of the system
349 // maximum time allowd for home drive: 25.000ms
350 SendSDO(0x3001, string('h','o','m','e')); // home
351 WaitForSdo(0x3001, 0, maxtime*1000);
352 lout << "- " << GetNodeName() << ": Home position reached. " << endl;
353
354 SendSDO(0x6003, 0, string('s','e','t')); // home
355 WaitForSdo(0x6003, 0);
356
357 StartGuarding();
358 StartHostGuarding();
359}
360
361void Macs::SetVelocity(LWORD_t vel)
362{
363 SendSDO(0x2002, vel); // velocity
364 WaitForSdo(0x2002, 0);
365}
366
367void Macs::SetAcceleration(LWORD_t acc)
368{
369 SendSDO(0x2003, 0, acc); // acceleration
370 WaitForSdo(0x2003, 0);
371}
372
373void Macs::SetDeceleration(LWORD_t dec)
374{
375 SendSDO(0x2003, 1, dec); // acceleration
376 WaitForSdo(0x2003, 1);
377}
378
379void Macs::SetRpmMode(BYTE_t mode)
380{
381 //
382 // SetRpmMode(FALSE) stop the motor, but lets the position control unit on
383 //
384 SendSDO(0x3006, 0, mode ? string('s','t','r','t') : string('s','t','o','p'));
385 WaitForSdo(0x3006, 0);
386}
387
388void Macs::SetRpmVelocity(LWORDS_t cvel)
389{
390 SendSDO(0x3006, 1, (LWORD_t)cvel);
391 WaitForSdo(0x3006, 1);
392}
393
394void Macs::StartRelPos(LWORDS_t pos)
395{
396 SendSDO(0x6004, 1, (LWORD_t)pos);
397}
398
399void Macs::StartAbsPos(LWORDS_t pos)
400{
401 SendSDO(0x6004, 0, (LWORD_t)pos);
402}
403
404void Macs::SetNoWait(BYTE_t flag)
405{
406 lout << "- " << GetNodeName() << ": Setting NOWAIT " << (flag?"ON":"OFF") << "." << endl;
407 SendSDO(0x3008, flag ? string('o', 'n') : string('o', 'f', 'f'));
408 WaitForSdo(0x3008);
409}
410
411void Macs::StartVelSync()
412{
413 //
414 // The syncronization mode is disabled by a 'MOTOR STOP'
415 // or by a positioning command (POSA, ...)
416 //
417 lout << "- " << GetNodeName() << ": Starting RPM Sync Mode." << endl;
418 SendSDO(0x3007, 0, string('s', 'y', 'n', 'c'));
419 WaitForSdo(0x3007, 0);
420}
421
422void Macs::StartPosSync()
423{
424 //
425 // The syncronization mode is disabled by a 'MOTOR STOP'
426 // or by a positioning command (POSA, ...)
427 //
428 lout << "- " << GetNodeName() << ": Starting Position Sync Mode." << endl;
429 SendSDO(0x3007, 1, string('s', 'y', 'n', 'c'));
430 WaitForSdo(0x3007, 1);
431}
432/*
433void Macs::ReqAxEnd()
434{
435 RequestSDO(0x2001);
436 WaitForSdo(0x2001);
437}
438*/
439void Macs::SendMsg(BYTE_t data[6])
440{
441 GetNetwork()->SendCanFrame(fMacId, 0, 0, data[0], data[1], data[2], data[3], data[4], data[5]);
442}
443
444void Macs::SendMsg(BYTE_t d0=0, BYTE_t d1=0, BYTE_t d2=0,
445 BYTE_t d3=0, BYTE_t d4=0, BYTE_t d5=0)
446{
447 GetNetwork()->SendCanFrame(fMacId, 0, 0, d0, d1, d2, d3, d4, d5);
448}
449
450void Macs::HandlePDO1(BYTE_t *data, timeval_t *tv)
451{
452 // FIXME!!!!
453 HandleNodeguard(tv);
454/*
455 Timer t(tv);
456 cout << GetNodeName()<< " " <<t.GetTimeStr() << endl;
457*/
458 fPdoPos = (data[4]<<24) | (data[5]<<16) | (data[6]<<8) | data[7];
459
460 // data[3]&0x01; // motor not moving
461 fPosActive = data[3]&kPosActive; // positioning active
462 fRpmActive = data[3]&kRpmActive; // RPM mode switched on
463 // data[3]&0x08; // - unused -
464 // data[3]&0x10; // - unused -
465 // data[3]&0x20; // - unused -
466 fInControl = data[3]&0x40; // motor uncontrolled
467 // data[3]&0x80; // axis resetted (after errclr, motor stop, motor on)
468
469 fStatus = data[3];
470
471 fPdoTime.SetTimer(tv);
472}
473
474void Macs::HandlePDO2(BYTE_t *data, timeval_t *tv)
475{
476 LWORDS_t errnum = (data[0]<<24) | (data[1]<<16) | (data[2]<<8) | data[3];
477 LWORDS_t errinf = (data[4]<<24) | (data[5]<<16) | (data[6]<<8) | data[7];
478
479 //
480 // errnum==0 gives a sudden information that something happened. Now the
481 // microcontroller is running inside its interrupt procedure which
482 // stopped the normal program. The interrupt procedure should try to clear
483 // the error state of the hardware. This should never create a new error!
484 //
485 if (!errnum)
486 {
487 lout << "- " << GetNodeName() << ": reports Error occursion." << endl;
488 lout << "Macs::HandlePDO2: " << GetNodeName() << " --> ZOMBIE!" << endl;
489 SetZombie();
490 SetError(-1);
491 return;
492 }
493
494 //
495 // Now the error is handled by the hardware now it is the software part
496 // to react on it. The Error flag now is set to the correct value.
497 //
498 if (GetError()>0)
499 {
500 lout << GetNodeName() << ": WARNING! Error #" << GetError() << " unhandled (not cleared) by software." << endl;
501
502 //
503 // If the error is unhadled and/or not cleared, don't try it again.
504 //
505 if (GetError()==errnum)
506 return;
507 }
508
509 SetError(errnum);
510
511 lout << GetNodeName() << " reports: ";
512 switch (errnum)
513 {
514 case 3:
515 lout << "Axis does not existing." << endl;
516 return;
517 case 5:
518 lout << "Error not cleared (while trying to move axis)" << endl;
519 return;
520 case 6:
521 //
522 // Report the error to the user. All possible movements should have
523 // been stopped anyhow. Now delete the error to prevent the system
524 // from reporting this error a thousands of times.
525 //
526 lout << "Home position not the first positioning command." << endl;
527 SetError(0);
528 return;
529 case 8:
530 lout << "Control deviation overflow." << endl;
531 return;
532 case 9:
533 lout << "Zero index not found." << endl;
534 return;
535 case 10:
536 lout << "Unknown command, syntax error." << endl;
537 lout << "Please recompile and reload program." << endl;
538 return;
539 case 11:
540 case 25:
541 switch (errinf)
542 {
543 case -1:
544 lout << "Negative";
545 break;
546 case 1:
547 lout << "Positive";
548 break;
549 default:
550 lout << "-unknown-";
551 }
552 switch (errnum)
553 {
554 case 11:
555 lout << " software";
556 break;
557 case 25:
558 lout << " hardware";
559 break;
560 }
561 lout << " endswitch activated." << endl;
562 return;
563 case 12:
564 lout << "Wrong parameter number used in SET command." << endl;
565 return;
566 case 14:
567 lout << " Too many LOOP calls." << endl;
568 return;
569 case 16:
570 lout << "Parameter in EEPROM broken (means: EEPROM broken, or saving not finished)" << endl;
571 lout << "Please use APOSS to 'Reset' the MACS and reload the parameters." << endl;
572 return;
573 case 17:
574 lout << "Program in EEPROM broken (means: EEPROM broken, or saving not finished)" << endl;
575 lout << "Please use APOSS to delete all Programs restore the programs." << endl;
576 return;
577 case 18:
578 lout << "Reset by CPU (reset called by Watch-dog cause of CPU halted)" << endl;
579 lout << "Possible reasons: short under-/overvoltage or shortcut." << endl;
580 return;
581 case 19:
582 lout << "User break (autostart program stopped by user)" << endl;
583 return;
584 case 51:
585 lout << "Too many (>=10) GOSUB calls." << endl;
586 return;
587 case 52:
588 lout << "Too many RETURN calls." << endl;
589 return;
590 case 62:
591 lout << "Error veryfiing EEPROM after access (Try again savaing parameters or program)" << endl;
592 return;
593 case 70:
594 lout << "Error in DIM call (call to DIM doesn't fit existing DIM call)" << endl;
595 return;
596 case 71:
597 lout << "Array out of bound." << endl;
598 return;
599 case 79:
600 lout << "Timeout waiting for index (WAITNDX)." << endl;
601 return;
602 case 84:
603 lout << "Too many (>12) ON TIME calls." << endl;
604 return;
605 case 87:
606 lout << "Out of memory for variables - Check APOSS predifined number of" << endl;
607 lout << "variables and try deleting the array by doing a 'Reset' from APOSS." << endl;
608 return;
609 case 89:
610 lout << "CAN I/O error (REOPEN=" << dec << errinf << " " << (errinf==0?"OK":"ERR") << ")" << endl;
611 return;
612
613 case 100:
614 //lout << "Connection timed out." << endl;
615 //EnableTimeout(false);
616 return;
617
618 default:
619 lout << "Error Nr. " << errnum << ", " << errinf << endl;
620 }
621}
622
623void Macs::HandlePDO3(BYTE_t *data, timeval_t *tv)
624{
625 // 3 5 7 9
626 // 1100 1010 1110 1001
627 if (fStatusPdo3 == data[3])
628 return;
629
630 lout << GetNodeName() << ": Status PDO3 = ";
631 const Bool_t ready = data[3]&0x01;
632 const Bool_t fuse = data[3]&0x02;
633 const Bool_t emcy = data[3]&0x04;
634 const Bool_t vltg = data[3]&0x08;
635 const Bool_t mode = data[3]&0x10;
636 const Bool_t rf = data[3]&0x20;
637 const Bool_t brake = data[3]&0x40;
638 if (ready) lout << "DKC-Ready ";
639 if (fuse) lout << "FuseOk ";
640 if (emcy) lout << "EmcyOk ";
641 if (vltg) lout << "OvervoltOk ";
642 if (mode) lout << "SwitchToManualMode ";
643 if (rf) lout << "RF ";
644 if (brake) lout << "BrakeOpen ";
645 lout << endl;
646
647 fStatusPdo3 = data[3];
648}
649
650// FIXME? Handling of fIsZombie?
651void Macs::HandleError()
652{
653 //
654 // If there is no error we must not handle anything
655 //
656 if (!HasError())
657 return;
658
659 //
660 // If the program got into the: HandleError state before the hardware
661 // has finished handeling the error we have to wait for the hardware
662 // handeling the error
663 //
664 // FIXME: Timeout???
665 //
666// while (GetError()<0)
667// usleep(1);
668
669 //
670 // After this software and hardware should be in a state so that
671 // we can go on working 'as usual' Eg. Initialize a Display Update
672 //
673 cout << GetNodeName() << " Handling Error #" << dec << GetError() << endl;
674 switch (GetError())
675 {
676 case 6: // home
677 case 8: // control dev
678 case 9: // zero idx
679 case 84: // ON TIME
680 lout << "- " << GetNodeName() << ": Cannot handle error #" << GetError() << endl;
681 return;
682
683 case 11: // software endswitch
684 case 25: // hardware endswitch
685 lout << "- " << GetNodeName() << ": Cannot handle error 'Endswitch!'" << endl;
686 return;
687
688 case 100: // timeout (movement has been stopped, so we can go on)
689 DelError();
690 return;
691/*
692 case 101:
693 //lout << "Warning: " << GetNodeName() << " didn't respond in timeout window - try again." << endl;
694 DelError();
695 return;
696 */
697 default:
698 lout << "- " << GetNodeName() << ": Cannot handle error #" << GetError() << endl;
699
700 }
701}
702
703double Macs::GetTime()
704{
705 return fPosTime.Now();
706}
707
708double Macs::GetMjd()
709{
710 return fPosTime.GetMjd();
711}
712
713double Macs::GetPdoTime()
714{
715 return fPdoTime.Now();
716}
717
718double Macs::GetPdoMjd()
719{
720 return fPdoTime.GetMjd();
721}
722
723/* 0x2000 0 rw Maximum positioning error */
724/* 1 rw Negative Software Endswitch */
725/* 2 rw Positive Software Endswitch */
726void Macs::SetNegEndswitch(LWORDS_t val)
727{
728 SendSDO(0x2000, 1, (LWORD_t)val);
729 WaitForSdo(0x2000, 1);
730}
731
732void Macs::SetPosEndswitch(LWORDS_t val)
733{
734 SendSDO(0x2000, 2, (LWORD_t)val);
735 WaitForSdo(0x2000, 2);
736}
737
738void Macs::EnableEndswitches(bool neg, bool pos)
739{
740 SendSDO(0x2000, 3, (LWORD_t)(neg|(pos<<1)));
741 WaitForSdo(0x2000, 3);
742}
743
744void Macs::SendNodeguard()
745{
746 SendSDO(0x4000, 0, (LWORD_t)0, false);
747}
748
749// --------------------------------------------------------------------------
750//
751// This starts the host guarding. The host guarding is only available
752// if the node guarding is running. The host guarding works with the
753// guardtime and the lifetimefactor from the nodeguarding.
754//
755void Macs::StartHostGuarding()
756{
757 SendSDO(0x100c, 0, (LWORD_t)GetGuardTime());
758 WaitForSdo(0x100c);
759
760 SendSDO(0x100d, 0, (LWORD_t)GetLifeTimeFactor());
761 WaitForSdo(0x100d);
762
763 lout << "- " << GetNodeName() << ": Hostguarding started (" << dec;
764 lout << GetLifeTimeFactor() << "*" << GetGuardTime() << "ms)" << endl;
765}
766
767// --------------------------------------------------------------------------
768//
769// Stop the host guarding.
770//
771void Macs::StopHostGuarding()
772{
773 SendSDO(0x100c, 0, (LWORD_t)0);
774 WaitForSdo(0x100c);
775
776 SendSDO(0x100d, 0, (LWORD_t)0);
777 WaitForSdo(0x100d);
778
779 lout << "- " << GetNodeName() << ": Hostguarding stopped." << endl;
780}
781
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