Changeset 1702 for trunk/MagicSoft/Cosy/devdrv/macs.cc

Timestamp:

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

Author:

tbretz

Message:

*** empty log message ***

File:

• trunk/MagicSoft/Cosy/devdrv/macs.cc (modified) (3 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!