Changeset 8870 for trunk/MagicSoft/Cosy/aposs

Timestamp:

02/22/08 11:44:52 (17 years ago)

Author:

tbretz

Message:

*** empty log message ***

File:

• trunk/MagicSoft/Cosy/aposs/Magic.m (modified) (8 diffs)

trunk/MagicSoft/Cosy/aposs/Magic.m

@@ -10 +10 @@
 /*                                                                         */
 kVERSION    = 0   /*                                                       */
-kSUBVERSION = 69  /*                                                       */
+kSUBVERSION = 70  /*                                                       */
 /*                                                                         */
 /*  HISTORY:                                                               */
+/*                                                                         */
+/*   * V0.70:                                                              */
+/*       - Implemented switch off of motor in case of Input 6 has a        */
+/*         falling edge                                                    */
+/*       - moved the arbitrary factor 4 for the tracking speed from        */
+/*         cosy to here                                                    */
 /*                                                                         */
 /*   * V0.69:                                                              */
@@ -323 +329 @@
 kIoModule = 4*256                    
 
+ON INT -(kIoModule+6) GOSUB DOOR_STATUS_CHANGED
+ON INT  (kIoModule+6) GOSUB DOOR_STATUS_CHANGED
+
 /*-------------------------------------------------------------------------*/
 /* Init                                                                    */
@@ -337 +346 @@
    canlo = 1
 
-         brake = 0
+   brake = 0
    RF    = 0     
    
@@ -354 +363 @@
          emcy  = in (kIoModule+2)
          vltg  = in (kIoModule+3)
-         mode  = in (kIoModule+4)   
+         mode  = in (kIoModule+4)
+         door  = in (kIoModule+6)
          ready = in 1
 
-         if (ready==0) and (RF==1) then
+         if (door==0) then
+            preop = kTRUE
+         endif
+
+         if (preop==kTRUE) then
+            print "Door open!"
+            gosub reset
+         elseif (ready==0) and (RF==1) then
             print "DKC not ready, but RF set... setting RF=AH=0!"
             gosub reset
@@ -465 +482 @@
       PRINT "Setting Idx:", idx, "/", subidx, " to ", sdoval
 */
-      if (idx==0x1000 and subidx==1 and sdoval==1) then
-         preop = kFALSE
+      if (idx==0x1000 and subidx==1) then
+         if (sdoval==1) then
+            if (door==0) then
+               canlo = 1
+            else
+               preop = kFALSE
+            endif
+         elseif
+            preop = kTRUE
+         endif
       elseif (idx==0x1003 and subidx==0 and sdoval==0) then
          i = 9
@@ -558 +583 @@
             endif
          elseif (subidx == 1) then
-            CVEL sdoval
+            /* It is unclear where this arbitraty factor comes from */
+            CVEL sdoval/4
          endif 
       elseif (idx == 0x3007) then
@@ -696 +722 @@
          sdoval = AXEND
       elseif (idx == 0x2002) then
-         sdoval = AVEL
+         sdoval = AVEL*4
       elseif (idx == 0x2003) then
          if (subidx==0) then
@@ -784 +810 @@
 /*-------------------------------------------------------------------------*/
    SUBPROG PROC_PDO1
-      CANOUT pdo1 AXEND APOS
+      CANOUT pdo1 (AXEND|(preop<<9)) APOS
+   RETURN
+
+/*-------------------------------------------------------------------------*/
+/* FENCE OPENED                                                            */
+/*-------------------------------------------------------------------------*/
+   SUBPROG DOOR_STATUS_CHANGED
+      preop = kTRUE
    RETURN