1 | #include "macs.h"
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2 |
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3 | #include <iostream.h>
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4 | #include <sys/time.h> // timeval->tv_sec
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5 |
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6 | #include "timer.h"
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7 | #include "network.h"
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8 |
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9 | Macs::Macs(BYTE_t nodeid, MLog &out)
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10 | : NodeDrv(nodeid, out), fMacId(2*nodeid+1),
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11 | fPos(0), fPosTime(0.0), fPdoPos(0), fPdoTime(0.0),
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12 | fPosActive(0), fRpmActive(0)
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13 | {
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14 | fTimeout = new TTimer(this, 100, kFALSE); // 100ms
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15 | }
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16 |
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17 | Macs::~Macs()
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18 | {
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19 | fTimerOn = kFALSE;
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20 | delete fTimeout;
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21 | }
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22 |
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23 | void Macs::HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, struct timeval *tv)
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24 | {
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25 | switch (idx)
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26 | {
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27 | case 0x100a:
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28 | lout << "- Mac using Software Version V" << dec << (int)(val>>16) << "." << (int)(val&0xff) << endl;
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29 | return;
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30 |
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31 | case 0x2002:
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32 | cout << "Actual velocity: " << dec << val << endl;
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33 | fVel = val;
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34 | return;
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35 |
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36 | case 0x4000:
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37 | switch (subidx)
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38 | {
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39 | case 1:
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40 | cout << "Timeout timer is " << (val?"en":"dis") << "abled." << endl;
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41 | return;
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42 | case 2:
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43 | cout << "Actual timeout time: " << dec << val << "ms" << endl;
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44 | return;
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45 | }
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46 | break;
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47 |
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48 | case 0x6004:
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49 | if (subidx)
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50 | return;
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51 |
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52 | // lout << "Actual Position: " << dec << (signed long)val << endl;
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53 | fPos = (LWORDS_t)val;
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54 | fPosTime.SetTimer(tv);
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55 | return;
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56 | /*
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57 | case 0x2001:
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58 | cout << "Axe Status: 0x" << hex << val << endl;
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59 | cout << " - Motor " << (val&0x01?"standing":"moving") << endl;
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60 | cout << " - Positioning " << (val&0x02?"active":"inactive") << endl;
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61 | cout << " - Rotary mode " << (val&0x04?"active":"inactive") << endl;
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62 | cout << " - Attitude control: " << (val&0x40?"off":"on") << endl;
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63 | cout << " - Axe resetted: " << (val&0x80?"yes":"no") << endl;
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64 | fPosActive = val&0x02;
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65 | fRpmActive = val&0x04;
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66 | return;
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67 | case 0x2003:
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68 | if (!subidx)
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69 | {
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70 | cout << "Input State: ";
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71 | for (int i=0; i<8; i++)
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72 | cout << (int)(val&(1<<i)?1:0);
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73 | cout <<endl;
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74 | return;
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75 | }
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76 | cout << "Input No." << subidx << (val?"hi":"lo") << endl;
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77 | return;
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78 | case 0x2004:
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79 | cout << "Status Value of Axis: 0x" << hex << val << endl;
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80 | cout << " - Attitude control: " << (val&0x800000?"off":"on") << endl;
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81 | cout << " - Movement done: " << (val&0x040000?"yes":"no") << endl;
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82 | cout << " - Number of Control Units: " << (int)((val>>8)&0xff) << endl;
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83 | cout << " - Attitude control: " << (val&0x04?"off":"on") << endl;
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84 | cout << " - Startswitch active: " << (val&0x20?"yes":"no") << endl;
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85 | cout << " - Referenceswitch active: " << (val&0x40?"yes":"no") << endl;
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86 | cout << " - Endswitch active: " << (val&0x80?"yes":"no") << endl;
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87 | return;
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88 | */
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89 |
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90 | case 0x6002:
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91 | lout << "- Velocity resolution Node#" << (int)GetId() << ": " << dec << val << " ticks/min" << endl;
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92 | fVelRes = val;
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93 | return;
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94 | }
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95 | cout << "Macs: SDO, idx=0x"<< hex << idx << "/" << (int)subidx;
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96 | cout << ", val=0x"<<val<<endl;
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97 | }
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98 |
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99 | void Macs::SetTimeoutTime(LWORD_t ms)
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100 | {
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101 | fTimeoutTime = ms/2;
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102 |
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103 | SendSDO(0x4000, 2, ms);
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104 | WaitForSdo(0x4000, 2);
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105 | }
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106 |
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107 | void Macs::ReqTimeoutTime()
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108 | {
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109 | RequestSDO(0x4000, 2);
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110 | WaitForSdo(0x4000, 2);
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111 | }
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112 |
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113 | void Macs::EnableTimeout(bool enable, LWORDS_t ms)
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114 | {
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115 | if (!enable)
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116 | {
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117 | SendSDO(0x4000, 1, string('o', 'f', 'f'));
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118 | WaitForSdo(0x4000, 1);
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119 |
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120 | cout << "--> Turn Off. " << endl;
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121 | fTimerOn = kFALSE;
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122 | }
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123 | else
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124 | {
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125 | if (ms>0)
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126 | SetTimeoutTime(ms);
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127 |
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128 | cout << "--> Turn On." << endl;
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129 | fTimerOn = kTRUE;
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130 | fTimeout->Start(fTimeoutTime, kTRUE);
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131 |
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132 | SendSDO(0x4000, 1, string('o', 'n'));
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133 | WaitForSdo(0x4000, 1);
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134 | }
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135 | }
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136 |
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137 | void Macs::ReqVelRes()
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138 | {
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139 | lout << "- Requesting velocity resolution (velres, 0x6002) of " << (int)GetId() << endl;
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140 | RequestSDO(0x6002);
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141 | WaitForSdo(0x6002);
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142 | }
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143 |
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144 | void Macs::SetPDO1On(BYTE_t flag)
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145 | {
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146 | lout << "- " << (flag?"Enable":"Disable") << " PDO1 of #" << (int)GetId() << endl;
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147 | SendSDO(0x1800, 1, (LWORD_t)(flag?0:1)<<31);
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148 | WaitForSdo(0x1800, 1);
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149 | }
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150 |
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151 | void Macs::InitDevice(Network *net)
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152 | {
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153 | NodeDrv::InitDevice(net);
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154 |
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155 | // SendSDO(0x4003, (LWORD_t)('E'<<24 | 'X'<<16 | 'I'<<8 'T'));
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156 | // WaitForSdo(0x4003, 0);
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157 |
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158 | /*
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159 | lout << "- Requesting SDO 0x2002 (vel) of " << (int)GetId() << endl;
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160 | RequestSDO(0x2002);
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161 | WaitForSdo(0x2002);
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162 |
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163 | lout << "- Requesting SDO 0x2003 of " << (int)GetId() << endl;
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164 | RequestSDO(0x2003);
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165 | WaitForSdo(0x2003);
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166 |
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167 | lout << "- Requesting SDO 0x2004 of " << (int)GetId() << endl;
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168 | RequestSDO(0x2004);
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169 | WaitForSdo(0x2004);
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170 | */
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171 | EnableTimeout(kFALSE);
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172 |
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173 | lout << "- Requesting Mac Software Version of " << (int)GetId() << endl;
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174 | RequestSDO(0x100a);
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175 | WaitForSdo(0x100a);
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176 |
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177 | SetRpmMode(FALSE);
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178 |
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179 | ReqVelRes(); // Init fVelRes
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180 |
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181 | lout << "- Motor on of " << (int)GetId() << endl;
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182 | SendSDO(0x3000, string('o', 'n'));
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183 | WaitForSdo(0x3000);
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184 |
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185 |
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186 | // SetHome(250000);
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187 |
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188 | // lout << "- Requesting SDO 0x2001 of " << (int)GetId() << endl;
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189 | // RequestSDO(0x2001);
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190 | // WaitForSdo(0x2001);
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191 |
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192 | SetPDO1On(FALSE); // this is a workaround for the Macs
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193 | SetPDO1On(TRUE);
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194 |
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195 | SetNoWait(TRUE);
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196 | }
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197 |
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198 | void Macs::StopMotor()
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199 | {
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200 | //
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201 | // Stop the motor and switch off the position control unit
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202 | //
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203 | SendSDO(0x3000, string('s','t','o','p'));
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204 | WaitForSdo(0x3000);
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205 | }
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206 |
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207 | void Macs::StopDevice()
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208 | {
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209 | EnableTimeout(kFALSE);
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210 |
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211 | SetNoWait(FALSE);
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212 |
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213 | //
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214 | // FIXME: This isn't called if the initialization isn't done completely!
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215 | //
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216 |
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217 | SetRpmMode(FALSE);
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218 |
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219 | SetPDO1On(FALSE);
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220 |
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221 | lout << "- Motor off of " << (int)GetId() << endl;
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222 | SendSDO(0x3000, string('o', 'f', 'f'));
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223 | WaitForSdo(0x3000);
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224 |
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225 | /*
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226 | lout << "- Stopping Program of " << (int)GetId() << endl;
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227 | SendSDO(0x4000, (LWORD_t)0xaffe);
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228 | WaitForSdo();
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229 | */
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230 | }
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231 |
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232 | void Macs::ReqPos()
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233 | {
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234 | lout << "- Requesting Position of #" << (int)GetId() << endl;
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235 | RequestSDO(0x6004);
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236 | WaitForSdo(0x6004);
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237 | }
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238 |
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239 | void Macs::ReqVel()
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240 | {
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241 | lout << "- Requesting Velocity of #" << (int)GetId() << endl;
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242 | RequestSDO(0x2002);
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243 | WaitForSdo(0x2002);
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244 | }
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245 |
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246 | void Macs::SetHome(LWORDS_t pos, WORD_t maxtime)
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247 | {
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248 | lout << "- Driving #" << (int)GetId() << " to home position, Offset=" << dec << pos << endl;
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249 | SendSDO(0x6003, 2, (LWORD_t)pos); // home
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250 | WaitForSdo(0x6003, 2);
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251 |
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252 | // home also defines the zero point of the system
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253 | // maximum time allowd for home drive: 25.000ms
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254 | SendSDO(0x3001, string('h','o','m','e')); // home
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255 | WaitForSdo(0x3001, 0, maxtime*1000);
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256 | lout << "- Home position of #" << (int)GetId() << " reached. " << endl;
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257 |
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258 | SendSDO(0x6003, 0, string('s','e','t')); // home
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259 | WaitForSdo(0x6003, 0);
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260 | }
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261 |
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262 | void Macs::SetVelocity(LWORD_t vel)
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263 | {
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264 | SendSDO(0x2002, vel); // velocity
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265 | WaitForSdo(0x2002);
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266 | }
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267 |
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268 | void Macs::SetAcceleration(LWORD_t acc)
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269 | {
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270 | SendSDO(0x2003, 0, acc); // acceleration
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271 | WaitForSdo(0x2003, 0);
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272 | }
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273 |
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274 | void Macs::SetDeceleration(LWORD_t dec)
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275 | {
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276 | SendSDO(0x2003, 1, dec); // acceleration
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277 | WaitForSdo(0x2003, 1);
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278 | }
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279 |
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280 | void Macs::SetRpmMode(BYTE_t mode)
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281 | {
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282 | //
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283 | // SetRpmMode(FALSE) stop the motor, but lets the position control unit on
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284 | //
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285 | SendSDO(0x3006, 0, mode ? string('s','t','r','t') : string('s','t','o','p'));
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286 | WaitForSdo(0x3006, 0);
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287 | }
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288 |
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289 | void Macs::SetRpmVelocity(LWORDS_t cvel)
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290 | {
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291 | SendSDO(0x3006, 1, (LWORD_t)cvel);
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292 | WaitForSdo(0x3006, 1);
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293 | }
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294 |
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295 | void Macs::StartRelPos(LWORDS_t pos)
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296 | {
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297 | SendSDO(0x6004, 1, (LWORD_t)pos);
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298 | }
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299 |
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300 | void Macs::StartAbsPos(LWORDS_t pos)
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301 | {
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302 | SendSDO(0x6004, 0, (LWORD_t)pos);
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303 | }
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304 |
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305 | void Macs::SetNoWait(BYTE_t flag)
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306 | {
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307 | lout << "- Setting NOWAIT " << (flag?"ON":"OFF") << " #" << (int)GetId() << endl;
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308 | SendSDO(0x3008, flag ? string('o', 'n') : string('o', 'f', 'f'));
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309 | WaitForSdo(0x3008);
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310 | }
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311 |
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312 | void Macs::StartVelSync()
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313 | {
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314 | //
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315 | // The syncronization mode is disabled by a 'MOTOR STOP'
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316 | // or by a positioning command (POSA, ...)
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317 | //
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318 | lout << "- Setting Vel Sync Mode #" << (int)GetId() << endl;
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319 | SendSDO(0x3007, 0, string('s', 'y', 'n', 'c'));
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320 | WaitForSdo(0x3007, 0);
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321 | }
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322 |
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323 | void Macs::StartPosSync()
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324 | {
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325 | //
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326 | // The syncronization mode is disabled by a 'MOTOR STOP'
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327 | // or by a positioning command (POSA, ...)
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328 | //
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329 | lout << "- Setting Pos Sync Mode #" << (int)GetId() << endl;
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330 | SendSDO(0x3007, 1, string('s', 'y', 'n', 'c'));
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331 | WaitForSdo(0x3007, 1);
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332 | }
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333 | /*
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334 | void Macs::ReqAxEnd()
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335 | {
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336 | RequestSDO(0x2001);
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337 | WaitForSdo(0x2001);
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338 | }
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339 | */
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340 | void Macs::SendMsg(BYTE_t data[6])
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341 | {
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342 | GetNetwork()->SendCanFrame(fMacId, 0, 0, data[0], data[1], data[2], data[3], data[4], data[5]);
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343 | }
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344 |
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345 | void Macs::SendMsg(BYTE_t d0=0, BYTE_t d1=0, BYTE_t d2=0,
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346 | BYTE_t d3=0, BYTE_t d4=0, BYTE_t d5=0)
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347 | {
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348 | GetNetwork()->SendCanFrame(fMacId, 0, 0, d0, d1, d2, d3, d4, d5);
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349 | }
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350 |
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351 | void Macs::HandlePDO1(BYTE_t *data, struct timeval *tv)
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352 | {
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353 | fPdoPos = (data[4]<<24) | (data[5]<<16) | (data[6]<<8) | data[7];
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354 |
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355 | fPosActive = data[3]&0x02;
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356 | fRpmActive = data[3]&0x04;
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357 |
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358 | fPdoTime.SetTimer(tv);
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359 | }
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360 |
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361 | void Macs::HandlePDO2(BYTE_t *data, struct timeval *tv)
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362 | {
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363 | LWORDS_t errnum = (data[0]<<24) | (data[1]<<16) | (data[2]<<8) | data[3];
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364 | LWORDS_t errinf = (data[4]<<24) | (data[5]<<16) | (data[6]<<8) | data[7];
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365 |
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366 | //
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367 | // errnum==0 gives a sudden information that something happened. Now the
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368 | // microcontroller is running inside its interrup procedure which
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369 | // stopped the normal program. The interrupt procedure should try to clear
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370 | // the error state of the hardware. This should never create a new error!
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371 | //
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372 | if (!errnum)
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373 | {
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374 | cout << "Mac #" << (int)GetId() << " reports Error occursion." << endl;
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375 | SetError(-1);
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376 | return;
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377 | }
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378 |
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379 | //
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380 | // Now the error is handled by the hardware now it is the software part
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381 | // to react on it. The Error flag now is set to the correct value.
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382 | //
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383 | if (GetError()>0)
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384 | cout << "Mac #" << (int)GetId() << " WARNING! Error #" << GetError() << " unhandled by software." << endl;
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385 |
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386 | SetError(errnum);
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387 |
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388 | cout << "Mac #" << (int)GetId() << " reports: ";
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389 | switch (errnum)
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390 | {
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391 | case 6:
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392 | cout << "Home position not the first positioning command." << endl;
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393 | return;
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394 |
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395 | case 8:
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396 | cout << "Control deviation overflow." << endl;
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397 | return;
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398 |
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399 | case 9:
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400 | cout << "Zero index not found." << endl;
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401 | return;
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402 |
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403 | case 11:
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404 | case 25:
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405 | switch (errinf)
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406 | {
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407 | case -1:
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408 | cout << "Negative";
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409 | break;
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410 | case 1:
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411 | cout << "Positive";
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412 | break;
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413 | default:
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414 | cout << "-unknown-";
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415 | }
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416 | switch (errnum)
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417 | {
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418 | case 11:
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419 | cout << " software endswitch activated." << endl;
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420 | break;
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421 | case 25:
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422 | cout << " hardware endswitch activated." << endl;
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423 | break;
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424 | }
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425 | return;
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426 |
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427 | case 84:
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428 | cout << "Too many (>12) ON TIME calls." << endl;
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429 | return;
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430 |
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431 | default:
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432 | cout << "Error Nr. " << errnum << ", " << errinf << endl;
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433 | }
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434 | }
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435 |
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436 | void Macs::HandleError()
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437 | {
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438 | //
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439 | // If there is no error we must not handle anything
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440 | //
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441 | if (!HasError())
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442 | return;
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443 |
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444 | //
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445 | // If the program got into the: HandleError state before the hardware
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446 | // has finished handeling the error we have to wait for the hardware
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447 | // handeling the error
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448 | //
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449 | // FIXME: Timeout???
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450 | //
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451 | while (GetError()<0)
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452 | usleep(1);
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453 |
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454 | //
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455 | // After this software and hardware should be in a state so that
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456 | // we can go on working 'as usual' Eg. Initialize a Display Update
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457 | //
|
---|
458 | cout << "Mac #" << (int)GetId() << " Handling Error #" << GetError() << endl;
|
---|
459 | switch (GetError())
|
---|
460 | {
|
---|
461 | case 6: // home
|
---|
462 | case 8: // control dev
|
---|
463 | case 9: // zero idx
|
---|
464 | case 84: // ON TIME
|
---|
465 | case 100: // timeout
|
---|
466 | // Stop program?
|
---|
467 | return;
|
---|
468 |
|
---|
469 | case 11: // software endswitch
|
---|
470 | case 25: // hardware endswitch
|
---|
471 | DelError();
|
---|
472 | return;
|
---|
473 | }
|
---|
474 | }
|
---|
475 |
|
---|
476 | double Macs::GetTime()
|
---|
477 | {
|
---|
478 | return fPosTime.Now();
|
---|
479 | }
|
---|
480 |
|
---|
481 | double Macs::GetMjd()
|
---|
482 | {
|
---|
483 | return fPosTime.CalcMjd();
|
---|
484 | }
|
---|
485 |
|
---|
486 | double Macs::GetPdoTime()
|
---|
487 | {
|
---|
488 | return fPdoTime.Now();
|
---|
489 | }
|
---|
490 |
|
---|
491 | double Macs::GetPdoMjd()
|
---|
492 | {
|
---|
493 | return fPdoTime.CalcMjd();
|
---|
494 | }
|
---|
495 |
|
---|
496 | /* 0x2000 0 rw Maximum positioning error */
|
---|
497 | /* 1 rw Negative Software Endswitch */
|
---|
498 | /* 2 rw Positive Software Endswitch */
|
---|
499 | void Macs::SetNegEndswitch(LWORDS_t val)
|
---|
500 | {
|
---|
501 | SendSDO(0x2000, 1, (LWORD_t)val);
|
---|
502 | WaitForSdo(0x2000, 1);
|
---|
503 | }
|
---|
504 |
|
---|
505 | void Macs::SetPosEndswitch(LWORDS_t val)
|
---|
506 | {
|
---|
507 | SendSDO(0x2000, 2, (LWORD_t)val);
|
---|
508 | WaitForSdo(0x2000, 2);
|
---|
509 | }
|
---|
510 |
|
---|
511 | void Macs::EnableEndswitches(bool neg, bool pos)
|
---|
512 | {
|
---|
513 | SendSDO(0x2000, 3, (LWORD_t)(neg|(pos<<1)));
|
---|
514 | WaitForSdo(0x2000, 3);
|
---|
515 | }
|
---|
516 |
|
---|
517 | Bool_t Macs::HandleTimer(TTimer *t)
|
---|
518 | {
|
---|
519 | /*
|
---|
520 | Fons:
|
---|
521 | -----
|
---|
522 |
|
---|
523 | timers never trigger at the same time or when in a TTimer::Notify.
|
---|
524 | Little explanation:
|
---|
525 |
|
---|
526 | - there are two types of timers synchronous and a-synchronous.
|
---|
527 | - synchronous timers are only handled via the ROOT eventloop
|
---|
528 | (see TUnixSystem::DispatchOneEvent()). If there are no mouse/keyboard
|
---|
529 | events then the synchronous timer queue is checked. So if the processing
|
---|
530 | of a mouse/keyboard event takes a long time synchronous timers are not
|
---|
531 | called for a while. To prevent this from happening one can call in long
|
---|
532 | procedures gSystem->ProcessEvents(). The system schedules only the
|
---|
533 | next timer in the queue when the current one's Notify() has finished.
|
---|
534 | - a-synchronous timers are triggered via SIGALARM, i.e. the program is
|
---|
535 | interupted and execution jumps to the Notify() function. When the
|
---|
536 | notify is finished the next a-sync timer is scheduled and the system
|
---|
537 | resumes from the place where it was initially interrupted. One of the
|
---|
538 | things to remember when using a-sync timers is don't make any graphics
|
---|
539 | calls in them. X11 is not re-entrant and it might be that the SIGALARM
|
---|
540 | signal interrupted the system while being in X11. A-sync timers are best
|
---|
541 | used to set flags that you can test at a convenient and controlled
|
---|
542 | time.
|
---|
543 | */
|
---|
544 | SendSDO(0x4000);
|
---|
545 | WaitForSdo(0x4000, 0, kDontWait);
|
---|
546 | if (fTimerOn)
|
---|
547 | fTimeout->Start(fTimeoutTime, kTRUE);
|
---|
548 | return kTRUE;
|
---|
549 | }
|
---|