changelog.txt

美国COPLEY驱动器,程序开发工具之一.

2006-12-07 20:33  sag

	* trunk/c/CML.cpp: Version 1.10

2006-12-05 19:58  sag

	* trunk/inc/CML_AmpDef.h: Added some support for high speed position
	  capture (a new firmware feature in version 5.12+)

2006-11-10 17:54  sag

	* trunk/c/SDO.cpp: Fixed some error handling on block uploads

2006-10-18 20:53  jjohnson

	* trunk/doc/top.doc: fixed a typo

2006-10-05 22:25  sag

	* trunk/inc/CML_AmpDef.h: Added some new object ID values

2006-09-19 18:14  sag

	* trunk/c/CML.cpp: Version 1.09

2006-09-19 18:03  sag

	* trunk/examples/gantry/gantry.cpp: Fixed minor compiler warning

2006-09-19 17:59  sag

	* trunk/Makefile: Added gantry example

2006-09-19 17:59  sag

	* trunk/doc/readme.txt: Added gantry example

2006-09-19 17:44  sag

	* trunk/examples/gantry, trunk/examples/gantry/Makefile,
	  trunk/examples/gantry/gantry.cpp,
	  trunk/examples/gantry/gantry.dsp,
	  trunk/examples/gantry/readme.txt: Simple gantry example

2006-09-19 17:16  sag

	* trunk/c/Amp.cpp, trunk/c/AmpPDO.cpp, trunk/c/AmpPVT.cpp,
	  trunk/c/CML.cpp, trunk/c/Linkage.cpp, trunk/c/can/can_copley.cpp,
	  trunk/inc/CML.h, trunk/inc/CML_Amp.h, trunk/inc/CML_AmpDef.h,
	  trunk/inc/CML_ErrorCodes.h, trunk/inc/CML_Linkage.h,
	  trunk/inc/can/copley_internal.h: Added the ability to stop a
	  linkage move on a velocity tracking error Fixed a bug with very
	  short PVT moves

2006-09-19 14:52  sag

	* trunk/c/TrjScurve.cpp: Fixed a round off error

2006-07-27 19:56  jgangemi

	* trunk/c/can/can_kvaser.cpp: release port on close with error

2006-07-27 15:09  jgangemi

	* trunk/c/can/can_kvaser.cpp: fix bug in not reporting kvaser errors

2006-07-25 11:10  sag

	* trunk/c/CML.cpp: Version 1.08.00

2006-07-24 18:13  sag

	* trunk/c/TrjScurve.cpp: Just changed a comment

2006-07-24 18:13  sag

	* trunk/c/Amp.cpp: Changed control word caching logic to avoid a
	  potential hangup after a halt

2006-07-17 16:56  jgangemi

	* trunk/inc/CML_Amp.h, trunk/inc/CML_AmpDef.h,
	  trunk/inc/CML_ErrorCodes.h: add ampfault I2TLimit

2006-07-17 16:55  jgangemi

	* trunk/c/Amp.cpp: add ampfault I2TLimit

2006-07-11 16:49  sag

	* trunk/inc/CML_AmpDef.h: Added some new values to the
	  INPUT_PIN_CONFIG enumeration. The new input types allow the analog
	  reference to be scaled based on the state of a digital input line

2006-07-10 19:11  sag

	* trunk/c/AmpFile.cpp, trunk/c/AmpStruct.cpp, trunk/c/CML.cpp,
	  trunk/inc/CML_AmpDef.h, trunk/inc/CML_AmpStruct.h: Added encoder
	  output configuration parameter to AmpSettings structure

2006-07-05 19:47  sag

	* trunk/c/CML.cpp: Version 1.07.30

2006-07-05 19:47  sag

	* trunk/inc/CML_Threads.h: Added MutexLocker utility class

2006-07-05 19:46  sag

	* trunk/c/threads/Threads_posix.cpp: Added code to retry a
	  pthread_create call if it fails the first time. This has occured
	  in some Linux systems which object to creating high priority
	  threads. A warning is written to the log file.

2006-07-05 19:46  sag

	* trunk/c/Amp.cpp, trunk/c/AmpParam.cpp, trunk/c/AmpStruct.cpp,
	  trunk/inc/CML_Amp.h, trunk/inc/CML_AmpDef.h,
	  trunk/inc/CML_AmpStruct.h: Added extended homing option

2006-07-05 19:43  sag

	* trunk/inc/CML_CanOpen.h: Added a default timeout for CAN
	  transmits.

2006-06-29 19:37  sag

	* trunk/c/CanOpen.cpp: Added a default timeout for transmits

2006-06-29 19:31  sag

	* trunk/c/can/can_linux.cpp, trunk/inc/can/can_linux.h: Removed
	  interface for obsolete linux driver. Linux support is now handled
	  in can_copley.cpp

2006-06-29 15:41  sag

	* trunk/doc/readme.txt: Updated to include info on Copley CAN cards

2006-06-05 12:33  sag

	* trunk/c/CML.cpp: Version 1.07.28

2006-06-05 12:33  sag

	* trunk/inc/CML_Error.h, trunk/inc/CML_Linkage.h: No real change,
	  just whitespace

2006-06-05 12:32  sag

	* trunk/c/AmpPDO.cpp: Added code to release a PVT trajectory if the
	  amplifier is disabled while the trajectory is being run.

2006-05-22 15:19  sag

	* trunk/c/CML.cpp: Version 1.07.26

2006-05-22 15:18  sag

	* trunk/c/IOmodule.cpp: Fixed an error with PDO initialization

2006-05-22 15:17  sag

	* trunk/c/can/can_copley.cpp: Updated to work with new Linux driver

2006-04-27 20:36  sag

	* trunk/c/AmpFW.cpp, trunk/c/Firmware.cpp, trunk/c/Node.cpp,
	  trunk/examples/flash/flash.cpp, trunk/inc/CML.h,
	  trunk/inc/CML_Amp.h, trunk/inc/CML_CanOpen.h,
	  trunk/inc/CML_Copley.h, trunk/inc/CML_IO.h, trunk/inc/CML_Node.h:
	  Added support for downloading firmware to a Copley I/O module

2006-04-27 12:27  sag

	* trunk/c/Firmware.cpp: Fixed a bug which caused the file to be
	  closed twice. Added support for I/O module

2006-04-14 18:24  sag

	* trunk/c/CML.cpp: Version 1.07.24

2006-04-14 18:24  sag

	* trunk/Makefile: Updated examples to include microsoft project
	  files

2006-04-14 18:23  sag

	* trunk/examples/flash/flash.cpp, trunk/examples/flash/flash.dsp,
	  trunk/examples/inc, trunk/examples/move/move.cpp,
	  trunk/examples/move/move.dsp, trunk/examples/move/readme.txt,
	  trunk/examples/twoaxis/readme.txt,
	  trunk/examples/twoaxis/twoaxis.cpp,
	  trunk/examples/twoaxis/twoaxis.dsp: Updated all examples to use
	  Copley CAN card

2006-04-14 17:00  sag

	* trunk, trunk/c/AmpFile.cpp, trunk/c/AmpPDO.cpp,
	  trunk/c/AmpStruct.cpp, trunk/c/CML.cpp, trunk/inc/CML_Amp.h,
	  trunk/inc/CML_AmpStruct.h, trunk/inc/CML_ErrorCodes.h: Added
	  support for rev 13 CCX file format

2006-04-14 16:53  sag

	* trunk/c/can/can_copley.cpp: Added support for the second CAN port

2006-04-14 16:40  sag

	* trunk/c/AmpParam.cpp: Added code to wait for an amplifier event
	  update after clearing faults. This prevents a possible race
	  condition.

2006-04-14 15:13  sag

	* trunk/c/Amp.cpp: No real change, just whitespace cleanup

2006-03-20 18:25  sag

	* trunk/c/can/can_copley.cpp: Added support for second port

2006-03-20 18:22  sag

	* trunk/c/CML.cpp: Changed version to 1.07.22

2006-03-20 18:21  sag

	* trunk/c/Geometry.cpp, trunk/c/Path.cpp, trunk/inc/CML_Geometry.h,
	  trunk/inc/CML_Path.h: Added a new function for adding arcs to a
	  path object Added an optional starting position to the Path.

2006-03-20 18:20  sag

	* trunk/Makefile: Added support for statically linked libraries

2006-03-13 16:24  sag

	* trunk/c/Firmware.cpp: Added code to close firmware file after
	  upload

2006-03-09 21:50  sag

	* trunk/c/CML.cpp: Version 1.07.21

2006-03-09 21:49  sag

	* trunk/inc/CML_Path.h: Fixed minor syntax error

2006-03-09 19:56  sag

	* trunk/inc/CML_AmpStruct.h: Comment change only

2006-03-09 19:56  sag

	* trunk/c/can/can_copley.cpp: Changed some debug messages

2006-02-25 00:37  sag

	* trunk/c/CML.cpp: Version 1.07.20

2006-02-25 00:37  sag

	* trunk/c/Path.cpp, trunk/inc/CML_Path.h: Improved documentation and
	  destructor

2006-02-25 00:18  sag

	* trunk/Makefile: Added Path.cpp

2006-02-25 00:17  sag

	* trunk/c/Path.cpp, trunk/inc/CML_ErrorCodes.h,
	  trunk/inc/CML_Path.h: Added first version of path planning object

2006-02-25 00:16  sag

	* trunk/c/Geometry.cpp, trunk/inc/CML_Amp.h, trunk/inc/CML_PDO.h: No
	  real change, just whitespace

2006-02-25 00:14  sag

	* trunk/inc/CML_Geometry.h: Labeled some methods constant

2006-02-25 00:11  sag

	* trunk/c/can/can_copley.cpp: Various cleanup

2006-02-24 14:28  sag

	* trunk/c/TrjScurve.cpp: Just whitespace changes

2006-02-23 14:25  sag

	* trunk/c/Can.cpp, trunk/c/can/can_vector.cpp, trunk/inc/CML_Can.h:
	  No change, just whitespace

2006-02-16 18:32  sag

	* trunk/c/threads/Threads_w32.cpp: Fixed a bug which caused problem
	  when a thread object was stopped and restarted.

2006-02-14 12:31  sag

	* trunk/c/PDO.cpp, trunk/c/SDO.cpp, trunk/c/TrjScurve.cpp,
	  trunk/inc/CML_SDO.h, trunk/inc/CML_TrjScurve.h: No real change,
	  just whitespace cleanup

2006-01-31 14:11  sag

	* trunk/c/can/can_copley.cpp, trunk/inc/can/can_copley.h,
	  trunk/inc/can/copley_internal.h: Added very early version of
	  Copley CAN card interface

2006-01-26 17:11  sag

	* trunk/c/CML.cpp: Version 1.07.18

2006-01-26 17:10  sag

	* trunk/c/AmpParam.cpp: Fixed a bug in SetPosCaptureCfg

2006-01-25 21:28  sag

	* trunk/c/AmpParam.cpp: Minor documentation changes. No code change

2006-01-25 21:16  sag

	* trunk/c/CML.cpp: Version 1.07.16

2006-01-25 21:15  sag

	* trunk/c/AmpPDO.cpp, trunk/c/AmpParam.cpp, trunk/inc/CML_Amp.h,
	  trunk/inc/CML_AmpDef.h: Added support for more complex output pin
	  configurations that require two parameters. Also added support for
	  position capture on index or input pin transitions

2006-01-25 21:13  sag

	* trunk/Makefile: Fixed a problem with how I was generating
	  dependancy files

2006-01-25 19:09  sag

	* trunk/c/AmpFile.cpp: Fixed a bug in the hall velocity parameter
	  loading. Added some unused parameters to prevent warnings Added
	  code to log unknown parameters to the log file

2006-01-17 19:32  sag

	* trunk/c/AmpFile.cpp: Fixed an overflow bug with long file lines
	  when reading the Amp file

2005-10-24 11:45  sag

	* trunk/c/Amp.cpp, trunk/c/AmpFW.cpp, trunk/c/AmpFile.cpp,
	  trunk/c/AmpPDO.cpp, trunk/c/AmpPVT.cpp, trunk/c/AmpParam.cpp,
	  trunk/c/AmpStruct.cpp, trunk/c/AmpUnits.cpp, trunk/c/CML.cpp,
	  trunk/c/Can.cpp, trunk/c/CanOpen.cpp, trunk/c/Error.cpp,
	  trunk/c/EventMap.cpp, trunk/c/Filter.cpp, trunk/c/Firmware.cpp,
	  trunk/c/Geometry.cpp, trunk/c/IOmodule.cpp, trunk/c/Linkage.cpp,
	  trunk/c/Node.cpp, trunk/c/PDO.cpp, trunk/c/SDO.cpp,
	  trunk/c/Threads.cpp, trunk/c/TrjScurve.cpp,
	  trunk/c/can/can_ixxat.cpp, trunk/c/can/can_kvaser.cpp,
	  trunk/c/can/can_linux.cpp, trunk/c/can/can_ni.cpp,
	  trunk/c/can/can_tms320f28xx.cpp, trunk/c/can/can_vector.cpp,
	  trunk/c/threads/Threads_dspbios.cpp,
	  trunk/c/threads/Threads_posix.cpp,
	  trunk/c/threads/Threads_w32.cpp, trunk/inc/CML.h,
	  trunk/inc/CML_Amp.h, trunk/inc/CML_AmpDef.h,
	  trunk/inc/CML_AmpStruct.h, trunk/inc/CML_Can.h,
	  trunk/inc/CML_CanOpen.h, trunk/inc/CML_Error.h,
	  trunk/inc/CML_EventMap.h, trunk/inc/CML_Filter.h,
	  trunk/inc/CML_Firmware.h, trunk/inc/CML_Geometry.h,
	  trunk/inc/CML_IO.h, trunk/inc/CML_Linkage.h, trunk/inc/CML_Node.h,
	  trunk/inc/CML_PDO.h, trunk/inc/CML_SDO.h,
	  trunk/inc/CML_Settings.h, trunk/inc/CML_Threads.h,
	  trunk/inc/CML_Trajectory.h, trunk/inc/CML_TrjScurve.h,
	  trunk/inc/CML_Utils.h, trunk/inc/can/can_ixxat.h,
	  trunk/inc/can/can_kvaser.h, trunk/inc/can/can_linux.h,
	  trunk/inc/can/can_ni.h, trunk/inc/can/can_tms320f28xx.h,
	  trunk/inc/can/can_vector.h: Updated Copyright line

2005-10-21 13:36  sag

	* trunk/c/CML.cpp: Changed version to 1.07.14

2005-10-21 13:35  sag

	* trunk/c/Amp.cpp, trunk/c/EventMap.cpp, trunk/inc/CML_Amp.h:
	  Several small changes to help support non CANopen standard modes

2005-10-21 12:38  sag

	* trunk/c/Amp.cpp, trunk/c/AmpParam.cpp, trunk/inc/CML_Amp.h:
	  Changed Amp::ClearFaults() function to take an optional parameter.
	  Changed Amp::ClearFaults() so it would work in non-CANopen modes

2005-10-21 12:33  sag

	* trunk/c/CML.cpp, trunk/inc/CML.h: Changed debug log level from an
	  integer type to an enum

2005-10-21 12:23  sag

	* trunk/doc/intro.sxw: Added a short paragraph on the Linkage object

2005-10-03 20:19  sag

	* trunk/c/CML.cpp: Version 1.07.12

2005-10-03 20:19  sag

	* trunk/c/threads/Threads_w32.cpp: Cleaned up some race conditions
	  related to stopping threads

2005-09-15 17:47  sag

	* trunk/c/CML.cpp: Version 1.07.10

2005-09-15 17:44  sag

	* trunk/c/LSS.cpp: Fixed a bug which caused us to fail to see serial
	  numbers greater then 0x7fffffff

2005-09-15 17:43  sag

	* trunk/c/Amp.cpp: Added better checking for amplifiers errors to
	  Amp::Enable()

2005-09-02 18:22  sag

	* trunk/c/AmpFW.cpp: Fixed a bug which caused firmware update to
	  fail if a serial port error occurred.

2005-08-29 18:48  sag

	* trunk/c/CML.cpp: Version 1.07.08

2005-08-29 18:43  sag

	* trunk/c/Firmware.cpp, trunk/inc/CML_ErrorCodes.h,
	  trunk/inc/CML_Firmware.h: Fixed some bugs that prevented
	  Firmware.cpp from compiling properly

2005-08-29 15:17  sag

	* trunk: Added ignore property, no code change

2005-08-29 15:12  sag

	* trunk/c/AmpStruct.cpp: Fixed an incorrect firmware version number
	  check when accessing PWM input frequency parameter (added to
	  firmware in version 4.56)

2005-08-03 11:29  sag

	* trunk/c/CML.cpp: Version 1.07.07

2005-08-03 11:28  sag

	* trunk/inc/CML_Linkage.h, trunk/inc/CML_Trajectory.h: No change,
	  just white space

2005-08-03 11:28  sag

	* trunk/c/AmpPVT.cpp, trunk/c/Linkage.cpp: Comment changes only

2005-08-03 11:21  sag

	* trunk/c/AmpStruct.cpp: Fixed some version checks

2005-07-12 14:09  sag

	* trunk/c/CML.cpp: Updated version number to 1.07.06

2005-07-12 14:08  sag

	* trunk/Makefile: Added Firmware.cpp to file list

2005-07-12 14:08  sag

	* trunk/c/AmpStruct.cpp: Added some firmware version checks to motor
	  info updates. Added a macro to make entering firmware versions
	  easier

2005-07-12 14:07  sag

	* trunk/c/Firmware.cpp: Changed error definition to use new Macro

2005-06-30 13:59  sag