Changeset 9435 for trunk/MagicSoft/Cosy/devdrv

Timestamp:

04/29/09 13:05:42 (16 years ago)

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy/devdrv

Files:

• DevdrvLinkDef.h (modified) (1 diff)
• Makefile (modified) (1 diff)
• dkc.cc (modified) (9 diffs)

trunk/MagicSoft/Cosy/devdrv/DevdrvLinkDef.h

@@ -6 +6 @@
 
 #pragma link C++ class Dkc+;
-#pragma link C++ class Macs+;
-#pragma link C++ class ShaftEncoder+;
 
 #endif

trunk/MagicSoft/Cosy/devdrv/Makefile

@@ -17 +17 @@
 #------------------------------------------------------------------------------
 
-SRCFILES = shaftencoder.cc macs.cc dkc.cc
+SRCFILES = dkc.cc
 
 ############################################################

trunk/MagicSoft/Cosy/devdrv/dkc.cc

@@ -190 +190 @@
         return;
 
-    case 0x100c:
-        gLog << inf2 << "- " << GetNodeName() << ": Guard time:" << dec << val << endl;
-        return;
-
-    case 0x100d:
-        gLog << inf2 << "- " << GetNodeName() << ": Life time factor:" << dec << val << endl;
-        return;
-
     case 0x2002:
         gLog << inf2 << GetNodeName() << ": Current velocity: " << dec << val << endl;
@@ -264 +256 @@
         break;
 
-    case 0x100c:
-        switch (subidx)
-        {
-        case 0:
-            //lout << ddev(MLog::eGui);
-            gLog << inf2 << "- " << GetNodeName() << ": Guard time set." << endl;
-            //lout << edev(MLog::eGui);
-            return;
-        }
-        break;
-
-    case 0x100d:
-        switch (subidx)
-        {
-        case 0:
-            //lout << ddev(MLog::eGui);
-            gLog << inf2 << "- " << GetNodeName() << ": Life time factor set." << endl;
-            //lout << edev(MLog::eGui);
-            return;
-        }
-        break;
-
-    case 0x1800:
-        switch (subidx)
-        {
-        case 1:
-            //lout << ddev(MLog::eGui);
-            gLog << inf2 << "- " << GetNodeName() << ": Status of PDO1 set." << endl;
-            //lout << edev(MLog::eGui);
-            return;
-        }
-        break;
-
     case 0x2002:
-        switch (subidx)
-        {
-        case 0:
-            //lout << ddev(MLog::eGui);
-            gLog << inf2 << "- " << GetNodeName() << ": Velocity set." << endl;
-            //lout << edev(MLog::eGui);
-            return;
-        }
-        break;
+        //lout << ddev(MLog::eGui);
+        gLog << inf2 << "- " << GetNodeName() << ": Velocity set." << endl;
+        //lout << edev(MLog::eGui);
+        return;
 
     case 0x2003:
-        switch (subidx)
-        {
-        case 0:
-            //lout << ddev(MLog::eGui);
-            gLog << inf2 << "- " << GetNodeName() << ": Acceleration set." << endl;
-            //lout << edev(MLog::eGui);
-            return;
-        case 1:
-            //lout << ddev(MLog::eGui);
-            gLog << inf2 << "- " << GetNodeName() << ": Deceleration set." << endl;
-            //lout << edev(MLog::eGui);
-            return;
-        }
-        break;
+        //lout << ddev(MLog::eGui);
+        gLog << inf2 << "- " << GetNodeName() << ": Acceleration set." << endl;
+        //lout << edev(MLog::eGui);
+        return;
 
     case 0x3006:
@@ -359 +303 @@
         return;
 
-    case 0x6003:
-        switch (subidx)
-        {
-        case 0:
-            //lout << ddev(MLog::eGui);
-            gLog << inf2 << "- " << GetNodeName() << ": Absolute positioning started." << endl;
-            //lout << edev(MLog::eGui);
-            return;
-
-        case 1:
-            //lout << ddev(MLog::eGui);
-            gLog << inf2 << "- " << GetNodeName() << ": Relative positioning started." << endl;
-            //lout << edev(MLog::eGui);
-            return;
-        }
-        break;
-
     case 0x6004:
         switch (subidx)
@@ -421 +348 @@
 }
 
-void Dkc::SetPDO1On(BYTE_t flag)
-{
-    gLog << inf2 << "- " << GetNodeName() << ": " << (flag?"Enable":"Disable") << " PDO1." << endl;
-    SendSDO(0x1800, 1, (LWORD_t)(flag?0:1)<<31); 
-    WaitForSdo(0x1800, 1);           
-}
-
 void Dkc::StartNode()
 {
@@ -468 +388 @@
     WaitForSdo(0x1003, 2);
 
-    SetPDO1On(TRUE);
     /*
     if (HasError())
@@ -528 +447 @@
     gLog << dbg << "- Setting velocity to: " << vel << endl;
     SendSDO(0x2002, vel);     // velocity
-    WaitForSdo(0x2002, 0);
+    WaitForSdo(0x2002);
 }
 
@@ -535 +454 @@
     gLog << dbg << "- Setting velocity to: " << vel*100 << "%" << endl;
     SendSDO(0x2002, (LWORD_t)(vel*fVelMax+0.5));     // velocity
-    WaitForSdo(0x2002, 0);
+    WaitForSdo(0x2002);
 }
 
@@ -544 +463 @@
     WaitForSdo(0x2003, 0);
 }
-
+/*
 void Dkc::SetDeceleration(LWORD_t dec)
 {
@@ -551 +470 @@
     WaitForSdo(0x2003, 1);
 }
-
+*/
 void Dkc::SetRpmMode(BYTE_t mode)
 {