Changeset 1702 for trunk/MagicSoft/Cosy/devdrv

Timestamp:

01/13/03 18:18:15 (22 years ago)

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy/devdrv

Files:

• macs.cc (modified) (3 diffs)
• macs.h (modified) (4 diffs)

trunk/MagicSoft/Cosy/devdrv/macs.cc

@@ -243 +243 @@
     WaitForSdo(0x2004);
     */
-    EnableTimeout(kFALSE);
-
     lout << "- " << GetNodeName() << ": Requesting Mac Software Version." << endl;
     RequestSDO(0x100a);
     WaitForSdo(0x100a);
 
+    if (IsZombie())
+        return;
+
+    EnableTimeout(kFALSE);
     SetRpmMode(FALSE);
 
@@ -437 +439 @@
     fPdoPos    = (data[4]<<24) | (data[5]<<16) | (data[6]<<8) | data[7];
 
-    fPosActive = data[3]&0x02;
-    fRpmActive = data[3]&0x04;
+              // data[3]&0x01; // motor not moving
+    fPosActive = data[3]&kPosActive; // positioning active
+    fRpmActive = data[3]&kRpmActive; // RPM mode switched on
+              // data[3]&0x08; //  - unused -
+              // data[3]&0x10; //  - unused -
+              // data[3]&0x20; //  - unused -
+    fInControl = data[3]&0x40; // motor uncontrolled
+              // data[3]&0x80; // axis resetted (after errclr, motor stop, motor on)
+
+    fStatus = data[3];
 
     fPdoTime.SetTimer(tv);
@@ -450 +460 @@
     //
     // errnum==0 gives a sudden information that something happened. Now the
-    // microcontroller is running inside its interrup procedure which
+    // microcontroller is running inside its interrupt procedure which
     // stopped the normal program. The interrupt procedure should try to clear
     // the error state of the hardware. This should never create a new error!

trunk/MagicSoft/Cosy/devdrv/macs.h

@@ -25 +25 @@
     BYTE_t   fPosActive;
     BYTE_t   fRpmActive;
+    BYTE_t   fInControl;
+    BYTE_t   fStatus;
 
     TTimer  *fTimeout;
@@ -40 +42 @@
 
 public:
+    enum
+    {
+        kNotMoving = BIT(0),    // motor not moving
+        kPosActive = BIT(1),    // positioning active
+        kRpmActive = BIT(2),    // RPM mode switched on
+        // BIT(3-5) unsused
+        kOutOfControl = BIT(6), // motor uncontrolled
+        kAxisReset = BIT(7)     // axis resetted (after errclr, motor stop, motor on)
+    };
+
     Macs(const BYTE_t nodeid, const char *name=NULL, MLog &out=gLog);
     virtual ~Macs();
@@ -90 +102 @@
     void StopMotor();
 
-    int IsPositioning() { return fPosActive; }
+    int IsPositioning() const { return fPosActive; }
+    BYTE_t GetStatus() const { return fStatus; }
 
     double GetTime();
@@ -98 +111 @@
     double GetPdoMjd();
 
-    LWORDS_t GetPdoPos() { return fPdoPos; }
+    LWORDS_t GetPdoPos() const { return fPdoPos; }
 
-    LWORDS_t GetPos()    { return fPos; }
-    LWORDS_t GetVel()    { return fVel; }
-    LWORD_t  GetVelRes() { return fVelRes; } // Velocity units (would be 100 for %)
-    LWORD_t  GetRes()    { return fRes; }    // Encoder resolution
+    LWORDS_t GetPos()    const { return fPos; }
+    LWORDS_t GetVel()    const { return fVel; }
+    LWORD_t  GetVelRes() const { return fVelRes; } // Velocity units (would be 100 for %)
+    LWORD_t  GetRes()    const { return fRes; }    // Encoder resolution
 
     void HandleError();