ampstruct.cpp

美国COPLEY驱动器,程序开发工具之一.

   Programmable I/O pins
   */
/***************************************************************************/
/***************************************************************************/
/***************************************************************************/
/***************************************************************************/

/***************************************************************************/
/**
  Default constructor for AmpIoCfg structure.  This simply sets all member
  parameters to default values of zero.
  */
/***************************************************************************/
AmpIoCfg::AmpIoCfg( void )
{
   int i;

   inputCt = 0;
   outputCt = 0;
   inPullUpCfg = 0;

   for( i=0; i<COPLEY_MAX_INPUTS; i++ )
   {
      inCfg[i] = (INPUT_PIN_CONFIG)0;
      inDebounce[i] = 0;
   }

   for( i=0; i<COPLEY_MAX_OUTPUTS; i++ )
   {
      outCfg[i] = (OUTPUT_PIN_CONFIG)0;
      outMask[i] = 0;
	  outMask1[i] = 0;
   }
}

/***************************************************************************/
/**
  Configure the amplifier's programmable I/O pins using the values passed
  in the config structure.

  The inputCt and outputCt values of the config structure should indicate the
  total number of input & output pins to configure.  If the amplifier has more
  pins then these values indicate, the configuration of the remaining amplifier
  pins will not be changed.

  @param cfg A structure that holds the configuration settings.
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *Amp::SetIoConfig( AmpIoCfg &cfg )
{
   uint8 inCt, outCt;
   int i;

   const Error *err = sdo.Upld8( OBJID_INPUT_CFG, 0, inCt );
   if( !err ) err = sdo.Upld8( OBJID_OUTPUT_CFG, 0, outCt );
   if( !err ) err = SetIoPullup( cfg.inPullUpCfg );

   if( inCt > cfg.inputCt ) inCt = cfg.inputCt;
   if( outCt > cfg.outputCt ) outCt = cfg.outputCt;

   if( inCt  > COPLEY_MAX_INPUTS  ) inCt  = COPLEY_MAX_INPUTS;
   if( outCt > COPLEY_MAX_OUTPUTS ) outCt = COPLEY_MAX_OUTPUTS;

   for( i=0; i<inCt && !err; i++ )
   {
      err = SetInputConfig( i, cfg.inCfg[i] );
      if( !err ) 
	 err = SetInputDebounce( i, cfg.inDebounce[i] );
   }

   for( i=0; i<outCt && !err; i++ )
      err = SetOutputConfig( i, cfg.outCfg[i], cfg.outMask[i], cfg.outMask1[i] );

   return err;
}


/***************************************************************************/
/**
  Read the amplifier's programmable I/O pin configuration and return it in 
  the passed config structure.

  @param cfg A structure that holds the configuration settings.
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *Amp::GetIoConfig( AmpIoCfg &cfg )
{
   int i;

   const Error *err = sdo.Upld8( OBJID_INPUT_CFG, 0, cfg.inputCt );
   if( !err ) err = sdo.Upld8( OBJID_OUTPUT_CFG, 0, cfg.outputCt );
   if( !err ) err = GetIoPullup( cfg.inPullUpCfg );

   if( cfg.inputCt  > COPLEY_MAX_INPUTS  ) cfg.inputCt  = COPLEY_MAX_INPUTS;
   if( cfg.outputCt > COPLEY_MAX_OUTPUTS ) cfg.outputCt = COPLEY_MAX_OUTPUTS;

   for( i=0; i<cfg.inputCt && !err; i++ )
   {
      err = GetInputConfig( i, cfg.inCfg[i] );
      if( !err ) 
	 err = GetInputDebounce( i, cfg.inDebounce[i] );
   }

   for( i=0; i<cfg.outputCt && !err; i++ )
      err = GetOutputConfig( i, cfg.outCfg[i], cfg.outMask[i], cfg.outMask1[i] );

   return err;
}

/***************************************************************************/
/***************************************************************************/
/***************************************************************************/
/***************************************************************************/
/*
   Regen resister configuration
   */
/***************************************************************************/
/***************************************************************************/
/***************************************************************************/
/***************************************************************************/

/***************************************************************************/
/**
  Download a new configuration structure for the power regeneration resister.

  Note that not all amplifiers support a regen resister.  Please see the 
  amplifier datasheet to determine if this feature is available for the 
  amplifier being used.

  @param cfg A structure containing the configuration parameters to set.
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *Amp::SetRegenConfig( RegenConfig &cfg )
{
   const Error *err = sdo.DnldString( OBJID_REGEN_MODEL, 0, cfg.model );
   if( !err ) err = sdo.Dnld16( OBJID_REGEN_TIME, 0, cfg.peakTime   );
   if( !err ) err = sdo.Dnld16( OBJID_REGEN_RES,  0, cfg.resistance );
   if( !err ) err = sdo.Dnld16( OBJID_REGEN_CONT, 0, cfg.contPower );
   if( !err ) err = sdo.Dnld16( OBJID_REGEN_PEAK, 0, cfg.peakPower );
   if( !err ) err = sdo.Dnld16( OBJID_REGEN_VON,  0, cfg.vOn  );
   if( !err ) err = sdo.Dnld16( OBJID_REGEN_VOFF, 0, cfg.vOff );
   return err;
}

/***************************************************************************/
/**
  Upload the current configuration parameters for the power regeneration 
  resister connected to the amplifier.

  Note that not all amplifiers support a regen resister.  Please see the 
  amplifier datasheet to determine if this feature is available for the 
  amplifier being used.

  @param cfg A structure where the configuration parameters will be returned.
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *Amp::GetRegenConfig( RegenConfig &cfg )
{
   int32 l;
   const Error *err = sdo.UpldString( OBJID_REGEN_MODEL, 0, l=COPLEY_MAX_STRING, cfg.model );
   if( !err ) err = sdo.Upld16( OBJID_REGEN_TIME, 0, cfg.peakTime   );
   if( !err ) err = sdo.Upld16( OBJID_REGEN_RES,  0, cfg.resistance );
   if( !err ) err = sdo.Upld16( OBJID_REGEN_CONT, 0, cfg.contPower  );
   if( !err ) err = sdo.Upld16( OBJID_REGEN_PEAK, 0, cfg.peakPower  );
   if( !err ) err = sdo.Upld16( OBJID_REGEN_VON,  0, cfg.vOn        );
   if( !err ) err = sdo.Upld16( OBJID_REGEN_VOFF, 0, cfg.vOff       );

   return 0;
}

/***************************************************************************/
/**
  Configure the amplifier's homing related parameters.  The passed structure
  contains all parameters related to performing a home routine.

  @param cfg A structure holding the configuration parameters.
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *Amp::SetHomeConfig( HomeConfig &cfg )
{
   const Error *err = SetHomeMethod( cfg.method, cfg.extended );
   if( !err ) err = SetHomeOffset( cfg.offset );
   if( !err ) err = SetHomeVelFast( cfg.velFast );
   if( !err ) err = SetHomeVelSlow( cfg.velSlow );
   if( !err ) err = SetHomeAccel( cfg.accel );
   if( !err ) err = SetHomeCurrent( cfg.current );
   if( !err ) err = SetHomeDelay( cfg.delay );

   return err;
}

/***************************************************************************/
/**
  Load a structure with all parameters related to homing the amplifier.
  @param cfg A structure where the configuration parameters will be returned.
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *Amp::GetHomeConfig( HomeConfig &cfg )
{
   const Error *err = GetHomeMethod( cfg.method, &cfg.extended );
   if( !err ) err = GetHomeOffset( cfg.offset );
   if( !err ) err = GetHomeVelFast( cfg.velFast );
   if( !err ) err = GetHomeVelSlow( cfg.velSlow );
   if( !err ) err = GetHomeAccel( cfg.accel );
   if( !err ) err = GetHomeCurrent( cfg.current );
   if( !err ) err = GetHomeDelay( cfg.delay );
   return err;
}

/***************************************************************************/
/**
  Configure the amplifier's parameters related to point-to-point moves.

  @param cfg A structure holding the configuration parameters.
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *Amp::SetProfileConfig( ProfileConfig &cfg )
{
   const Error *err = SetProfileType( cfg.type );
   if( !err ) err = SetTargetPos( cfg.pos );
   if( !err ) err = SetProfileVel( cfg.vel ); 
   if( !err ) err = SetProfileAcc( cfg.acc ); 
   if( !err ) err = SetProfileDec( cfg.dec );
   if( !err ) err = SetProfileJerk( cfg.jrk );
   if( !err ) err = SetQuickStopDec( cfg.abort );
   return err;
}

/***************************************************************************/
/**
  Load a structure with all parameters related to point-to-point moves.
  @param cfg A structure where the configuration parameters will be returned.
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *Amp::GetProfileConfig( ProfileConfig &cfg )
{
   const Error *err = GetProfileType( cfg.type );
   if( !err ) err = GetTargetPos( cfg.pos );
   if( !err ) err = GetProfileVel( cfg.vel ); 
   if( !err ) err = GetProfileAcc( cfg.acc ); 
   if( !err ) err = GetProfileDec( cfg.dec );
   if( !err ) err = GetProfileJerk( cfg.jrk );
   if( !err ) err = GetQuickStopDec( cfg.abort );
   return err;
}

/***************************************************************************/
/**
  Configure the amplifier's internal function generator.
  @param cfg A structure holding the configuration to download
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *Amp::SetFuncGenConfig( FuncGenConfig &cfg )
{
   const Error *err = sdo.Dnld16( OBJID_FGEN_CFG, 0, cfg.cfg );
   if( !err ) err = sdo.Dnld16( OBJID_FGEN_FREQ, 0, cfg.freq );
   if( !err ) err = sdo.Dnld32( OBJID_FGEN_AMP,  0, cfg.amp  );
   if( !err ) err = sdo.Dnld16( OBJID_FGEN_DUTY, 0, cfg.duty );
   return err;
}

/***************************************************************************/
/**
  Upload the current configuration of the amplifier's internal function generator.
  @param cfg A structure where the configuration will be returned.
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *Amp::GetFuncGenConfig( FuncGenConfig &cfg )
{
   const Error *err = sdo.Upld16( OBJID_FGEN_CFG, 0, cfg.cfg );
   if( !err ) err = sdo.Upld16( OBJID_FGEN_FREQ, 0, cfg.freq );
   if( !err ) err = sdo.Upld32( OBJID_FGEN_AMP,  0, cfg.amp  );
   if( !err ) err = sdo.Upld16( OBJID_FGEN_DUTY, 0, cfg.duty );
   return err;
}

/***************************************************************************/
/**
  Configure the amplifier's analog reference input.  Note that some amplifier
  models do not support the analog reference.
  @param cfg A structure holding the configuration to download
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *Amp::SetAnalogRefConfig( AnalogRefConfig &cfg )
{
   const Error *err = sdo.Dnld32( OBJID_REF_SCALE, 0, cfg.scale );
   if( !err ) err = sdo.Dnld16( OBJID_REF_OFFSET, 0, cfg.offset );
   if( !err ) err = sdo.Dnld16( OBJID_REF_CALOFF, 0, cfg.calibration );
   if( !err ) err = sdo.Dnld16( OBJID_REF_DEADBAND, 0, cfg.deadband );
   return err;
}

/***************************************************************************/
/**
  Upload the amplifier's analog reference input configuration.
  @param cfg A structure where the configuration parameters will be returned.
  @return A pointer to an error object, or NULL on success
  */
/***************************************************************************/
const Error *Amp::GetAnalogRefConfig( AnalogRefConfig &cfg )
{
   const Error *err = sdo.Upld32( OBJID_REF_SCALE, 0, cfg.scale );
   if( !err ) err = sdo.Upld16( OBJID_REF_OFFSET, 0, cfg.offset );
   if( !err ) err = sdo.Upld16( OBJID_REF_CALOFF, 0, cfg.calibration );
   if( !err ) err = sdo.Upld16( OBJID_REF_DEADBAND, 0, cfg.deadband );
   return err;
}