Changeset 1804 for trunk/MagicSoft/Cosy/devdrv/macs.cc

Timestamp:

03/02/03 17:08:13 (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

@@ -31 +31 @@
     : NodeDrv(nodeid, name, out), fMacId(2*nodeid+1),
     fPos(0), fPosTime(0.0), fPdoPos(0), fPdoTime(0.0),
-    fPosActive(0), fRpmActive(0)
+    fPosActive(0), fRpmActive(0), fStatusPdo3(0xff)
 {
 //    fTimeout = new TTimer(this, 100); //, kFALSE); // 100ms, asynchronous
@@ -57 +57 @@
 
     case 0x2002:
-        cout << GetNodeName() << ": Actual velocity: " << dec << val << endl;
+        cout << GetNodeName() << ": Current velocity: " << dec << val << endl;
         fVel = val;
         return;
@@ -273 +273 @@
     SetNoWait(TRUE);
 
-    StartGuarding(100, 2);
-    StartHostGuarding();
+    //    StartGuarding(500, 2);
+    //    StartHostGuarding();
 }
 
@@ -300 +300 @@
     SetPDO1On(FALSE);
 
-    lout << "- " << GetNodeName() << ": Motor off." << endl;
-    SendSDO(0x3000, string('o', 'f', 'f'));
-    WaitForSdo(0x3000);
+    /*
+     lout << "- " << GetNodeName() << ": Motor off." << endl;
+     SendSDO(0x3000, string('o', 'f', 'f'));
+     WaitForSdo(0x3000);
+     */
 
     /*
@@ -550 +552 @@
 }
 
+void Macs::HandlePDO3(BYTE_t *data, timeval_t *tv)
+{
+    // 3    5    7    9
+    // 1100 1010 1110 1001
+    if (fStatusPdo3 == data[3])
+        return;
+
+    lout << GetNodeName() << ": Status PDO3 = ";
+    const Bool_t ready = data[3]&0x01;
+    const Bool_t fuse  = data[3]&0x02;
+    const Bool_t emcy  = data[3]&0x04;
+    const Bool_t vltg  = data[3]&0x08;
+    const Bool_t mode  = data[3]&0x10;
+    const Bool_t rf    = data[3]&0x20;
+    const Bool_t brake = data[3]&0x40;
+    if (ready) lout << "DKC-Ready ";
+    if (fuse)  lout << "FuseOk ";
+    if (emcy)  lout << "EmcyOk ";
+    if (vltg)  lout << "OvervoltOk ";
+    if (mode)  lout << "SwitchToManualMode ";
+    if (rf)    lout << "RF ";
+    if (brake) lout << "BrakeOpen ";
+    lout << endl;
+
+    fStatusPdo3 = data[3];
+}
+
 // FIXME? Handling of fIsZombie?
 void Macs::HandleError()