Changeset 1703 for trunk/MagicSoft/Cosy/devdrv/macs.cc

Timestamp:

01/14/03 12:08:46 (22 years ago)

Author:

tbretz

Message:

*** empty log message ***

File:

• trunk/MagicSoft/Cosy/devdrv/macs.cc (modified) (5 diffs)

trunk/MagicSoft/Cosy/devdrv/macs.cc

@@ -48 +48 @@
     case 0x100a:
         lout << "- " << GetNodeName() << ": Using Software Version V" << dec << (int)(val>>16) << "." << (int)(val&0xff) << endl;
+        fSoftVersion = val;
+        return;
+
+    case 0x100b:
+        // Do not display, this is used for CheckConnection
+        // lout << "Node ID: " << dec << val << endl;
         return;
 
@@ -221 +227 @@
 }
 
-void Macs::InitDevice(Network *net)
-{
-    lout << "- " << GetNodeName() << ": MAC Init device." << endl;
-    NodeDrv::InitDevice(net);
-    lout << "- " << GetNodeName() << ": MAC Init device...done." << endl;
-
-//    SendSDO(0x4003, (LWORD_t)('E'<<24 | 'X'<<16 | 'I'<<8 'T'));
-//    WaitForSdo(0x4003, 0);
-
-/*
-    lout << "- Requesting SDO 0x2002 (vel) of " << (int)GetId() << endl;
-    RequestSDO(0x2002);
-    WaitForSdo(0x2002);
-
-    lout << "- Requesting SDO 0x2003 of " << (int)GetId() << endl;
-    RequestSDO(0x2003);
-    WaitForSdo(0x2003);
-
-    lout << "- Requesting SDO 0x2004 of " << (int)GetId() << endl;
-    RequestSDO(0x2004);
-    WaitForSdo(0x2004);
-    */
+void Macs::CheckConnection()
+{
+    RequestSDO(0x100b);
+    WaitForSdo(0x100b);
+
+    // FIXME! Not statically linked!
+    //    if (fSoftVersion<0x00000035)
+    //        fIsZombie = true;
+}
+
+
+void Macs::Init()
+{
     lout << "- " << GetNodeName() << ": Requesting Mac Software Version." << endl;
     RequestSDO(0x100a);
     WaitForSdo(0x100a);
 
-    if (IsZombie())
-        return;
+    if (fIsZombie)
+    {
+        lout << GetNodeName() << " - InitDevice failed!" << endl;
+        return;
+    }
 
     EnableTimeout(kFALSE);
@@ -259 +259 @@
     SendSDO(0x3000, string('o', 'n'));
     WaitForSdo(0x3000);
-
 
 //    SetHome(250000);
@@ -413 +412 @@
     // or by a positioning command (POSA, ...)
     //
-    lout << "- " << GetNodeName() << ": Starting Posistion Sync Mode." << endl;
+    lout << "- " << GetNodeName() << ": Starting Position Sync Mode." << endl;
     SendSDO(0x3007, 1, string('s', 'y', 'n', 'c'));
     WaitForSdo(0x3007, 1);
@@ -547 +546 @@
 }
 
+// FIXME? Handling of fIsZombie?
 void Macs::HandleError()
 {