changelog.txt

美国COPLEY驱动器,程序开发工具之一.

	  This prevents it from taking all the CPU time if there is some low
	  level CAN problem.

2004-01-21 19:01  sag

	* trunk/c/threads/Threads_w32.cpp: Changed long to int32 to keep
	  code generic

2004-01-21 18:40  sag

	* trunk/c/Node.cpp: Added a cast to make Borland C++ happy

2004-01-21 18:37  sag

	* trunk/c/AmpFile.cpp, trunk/c/CML.cpp, trunk/c/Firmware.cpp: Fixed
	  some compile problems when CML_FILE_ACCESS is not defined in
	  CML_Settings.h

2004-01-21 18:36  sag

	* trunk/c/threads/Threads_posix.cpp: Added a timeout to
	  Thread::stop(). Note that this parameter isn't used in the posix
	  version of this function.

2004-01-21 18:36  sag

	* trunk/inc/CML_Threads.h: Changed paramter type of timeout in
	  Thread::stop() from long to more generic int32

2004-01-21 18:35  sag

	* trunk/inc/CML_Amp.h: Fixed a warning given by gcc

2004-01-21 18:34  sag

	* trunk/c/Node.cpp: Removed an old #include to stdio.h which was
	  there for debugging

2004-01-21 18:10  sag

	* trunk/Makefile: Fixed a problem with making dependencies

2004-01-21 14:10  sag

	* trunk/c/Amp.cpp: Fixed a problem with Amp::Disable() which would
	  cause a timeout if the amplifier's brake delay was set to a large
	  value. Now I only wait for the amp to acknowledge that it's trying
	  to disable, not that it's actually disabled

2004-01-21 14:08  sag

	* trunk/c/threads/Threads_w32.cpp: Fixed a race condition when
	  stopping a thread. This could cause a memory exception.

2004-01-21 14:08  sag

	* trunk/c/CanOpen.cpp: Added a check to CanOpen::Init to make sure
	  the object wasn't already initialized.

2004-01-15 13:40  sag

	* trunk/c/CML.cpp: Updated version to 1.05

2004-01-15 13:39  sag

	* trunk/c/Amp.cpp, trunk/c/AmpFile.cpp, trunk/inc/CML_Amp.h,
	  trunk/inc/CML_AmpDef.h: Added initial support for microstepping
	  amplifiers (Stepnet).

2004-01-15 13:21  sag

	* trunk/c/can/can_ixxat.cpp, trunk/c/can/can_kvaser.cpp,
	  trunk/c/can/can_vector.cpp: Changed port name handling so that all
	  windows CAN interfaces would use a consistent port name style

2004-01-15 13:19  sag

	* trunk/c/threads/Threads_w32.cpp, trunk/inc/CML_Threads.h: Added a
	  timeout to Thread::stop().

2004-01-15 13:18  sag

	* trunk/c/AmpPVT.cpp: No real change, just cleaned up some cr/lf
	  problems

2004-01-15 13:17  sag

	* trunk/c/Linkage.cpp: Fixed a bug in the Linkage::StartMove method.
	  Previously, the locally created EventMap object was being
	  destroyed before the Event objects that chain to it. This could
	  cause those events to try to access the event map when it was no
	  longer valid.

2004-01-15 13:16  sag

	* trunk/c/EventMap.cpp, trunk/inc/CML_EventMap.h: Added delChain()
	  member function to Event object.

2004-01-15 13:15  sag

	* trunk/c/Can.cpp, trunk/inc/CML_Can.h: Added a private member
	  function used by the windows CAN interface objects for port name
	  decomposition. Added a call to close the CanOpen object to the CAN
	  Interface destructor.

2004-01-15 13:12  sag

	* trunk/inc/CML_Amp.h, trunk/inc/CML_Linkage.h: Changed member
	  EventMap data from private to public. Please use with caution.

2004-01-14 20:59  sag

	* trunk/c/CanOpen.cpp: Fixed a bug in the destructor which caused an
	  obsolete pointer to the CAN Interface object to be held after it
	  was deleted

2004-01-14 20:58  sag

	* trunk/c/AmpPVT.cpp: Added some additional debug message logging

2003-12-30 14:51  sag

	* trunk/inc/CML.h: Added GetLogFIle() to cvs object.

2003-12-30 14:50  sag

	* trunk/c/can/can_ixxat.cpp, trunk/c/can/can_kvaser.cpp,
	  trunk/c/can/can_vector.cpp: Changed handling of port names to be
	  more consistent from one CAN driver to another

2003-12-22 21:56  sag

	* trunk/c/threads/Threads_w32.cpp: Very minor bug fix, improved
	  error handling

2003-12-22 21:55  sag

	* trunk/c/IOmodule.cpp, trunk/inc/CML_IO.h: Added a more generic
	  form of WaitIOEvent for consistency with other objects that
	  provide wait functions (Amp and Linkage)

2003-12-22 18:39  sag

	* trunk/c/AmpUnits.cpp: No real change, just fixed line endings

2003-10-27 12:57  sag

	* trunk/c/AmpStruct.cpp: Fixed a bug in SetMtrInfo which could cause
	  an error code to be lost.

2003-10-14 17:16  sag

	* trunk/c/AmpFile.cpp: Added code to load the 'motor family'
	  parameter from the ccx file

2003-10-14 15:22  sag

	* trunk/c/AmpParam.cpp: Added checks for negative pin numbers passed
	  to certain I/O related methods.

2003-10-14 15:21  sag

	* trunk/inc/CML_AmpDef.h: Added a definition for the 'phase not
	  initialized' amplifier event status bit.

2003-10-14 14:38  sag

	* trunk/c/CML.cpp, trunk/inc/CML.h: Changed handling of log file
	  name so that non-constant strings can be safely passed. Also, made
	  the cml.SetLogFile method close any open log when called. This
	  allows log file names to be changed on the fly.

2003-10-14 14:13  sag

	* trunk/c/AmpParam.cpp, trunk/inc/CML_Amp.h, trunk/inc/CML_AmpDef.h:
	  Added support for the standard CANopen profile velocity mode

2003-09-11 13:39  sag

	* trunk/c/CML.cpp: Changed version number to 1.04

2003-09-11 13:38  sag

	* trunk/inc/CML_Can.h: Fixed a gcc warning. No functional change

2003-08-18 17:57  sag

	* trunk/inc/CML_Can.h: Added default value of 0 for CanOpenPtr
	  member variable.

2003-08-18 17:42  sag

	* trunk/c/CanOpen.cpp: Changed handling of error codes returned when
	  trying to open the CanInterface object. Now, if the error code
	  CanError::AlreadyOpen is returned, this error is ignored. This
	  change allows the CAN interface to be open before it's passed to
	  the CanOpen object.

2003-08-18 16:53  sag

	* trunk/c/CML.cpp: Updated version to 1.03.05

2003-08-18 16:53  sag

	* trunk/Makefile, trunk/c/AmpFile.cpp, trunk/c/AmpPVT.cpp,
	  trunk/c/AmpParam.cpp, trunk/c/AmpStruct.cpp, trunk/c/AmpUnits.cpp,
	  trunk/inc/CML_Amp.h, trunk/inc/CML_AmpDef.h: Added dual encoder
	  support and changed all unit conversion functions so that there
	  are optionally two versions, one for motor encoder units, one for
	  load encoder units.

2003-08-18 16:45  sag

	* trunk/c/AmpFile.cpp: changed .ccx file loader to support rev 10
	  .ccx files. The main difference is the addition of dual encoder
	  parameters.

2003-08-18 16:44  sag

	* trunk/c/AmpParam.cpp: Changed parameter checking for some profile
	  parameters to allow 0 values to be accepted. This is necessary to
	  avoid errors when uploading a .ccx file that has 0 in these
	  parameters.

2003-08-18 15:21  sag

	* trunk/inc/CML_Amp.h: Moved some comments to improve documentation.
	  No code change.

2003-08-18 15:20  sag

	* trunk/c/AmpParam.cpp: Changed test on homing velocities &
	  accelerations to accept 0 as valid. This solves some problems with
	  loading ccx files when no home vel/acc have been configured.

2003-08-12 19:44  sag

	* trunk/c/CML.cpp: Updated version number to 1.03.04

2003-08-12 19:44  sag

	* trunk/c/AmpFile.cpp, trunk/c/AmpStruct.cpp: Fixed a unit
	  conversion bug with motor torque parameters (peak torque,
	  continuous torque & torque constant).

2003-08-11 14:03  sag

	* trunk/examples/flash/flash.cpp: Fixed a compile problem with flash
	  example

2003-08-11 13:56  sag

	* trunk/inc/CML_AmpStruct.h, trunk/inc/CML_Filter.h: Fixed some
	  <CR><LF> problems No actual code change

2003-08-11 13:56  sag

	* trunk/c/AmpFile.cpp, trunk/c/AmpStruct.cpp, trunk/c/Filter.cpp:
	  Fixed some <CR><LF> problems. No actual code change

2003-08-11 13:54  sag

	* trunk/c/CML.cpp: Version changed to 1.03.03

2003-08-11 13:53  sag

	* trunk/c/AmpStruct.cpp, trunk/inc/CML_AmpStruct.h: Added initial
	  dual encoder support

2003-08-07 19:45  sag

	* trunk/c/CML.cpp: Set version string to 1.03.02

2003-08-07 19:34  sag

	* trunk/c/Node.cpp, trunk/inc/CML_Node.h: Fixed a Node::Reset()
	  problem. Previously, after sending a reset a CAN request would be
	  sent to the node asking for a status update. This message could
	  cause low level CAN bus errors since there may be no node on the
	  network to receive it. Now, no message is transmitted to the node
	  after the reset.

2003-08-07 15:06  sag

	* trunk/c/Amp.cpp: Fixed another startup problem related to the
	  Xenus amplifier. The bug would cause the Amp::Reset() to return
	  success even though the Xenus was not yet enabled.

2003-08-04 17:53  sag

	* trunk/c/CML.cpp: Updated version to 1.03

2003-08-04 16:55  sag

	* trunk/Makefile: Changed the auto-generated ChangeLog.txt file so
	  it will use the DOS line ending <CR><LF> rather then the unix
	  style.

2003-08-04 16:24  sag

	* trunk/c/CML.cpp: Set version number to 1.02

2003-08-04 16:16  sag

	* trunk/c/can/can_kvaser.cpp, trunk/inc/can/can_kvaser.h: Added some
	  code to the Kvaser CAN interface to fix a problem with closing the
	  driver.

2003-08-04 14:11  sag

	* trunk/c/AmpParam.cpp: Minor fix to a comment. No code change.

2003-08-04 14:08  sag

	* trunk/c/AmpParam.cpp, trunk/inc/CML_Amp.h: Improved comments for
	  Amp::SetOutputs. Added default value to SetOutputConfig mask
	  parameter. Added second version of GetOutputConfig which doesn't
	  return the mask.

2003-08-04 14:04  sag

	* trunk/c/Amp.cpp: Changed the logic used to enable the amplifier at
	  init time. The enable is now the last thing done in the init, so
	  even if it fails the amplifier will be properly initialized. Also,
	  I attempt to return a more useful error message then just
	  'timeout' if the enable fails.

2003-07-28 13:21  sag

	* trunk/c/threads/Threads_w32.cpp: Fixed a couple of .net warnings

2003-07-28 13:07  sag

	* trunk/c/AmpStruct.cpp, trunk/inc/CML_AmpStruct.h: Added a default
	  constructor for MtrInfo structure

2003-07-14 19:32  sag

	* trunk/c/AmpFile.cpp: Added an explicit cast to get rid of a VC++
	  warning

2003-07-14 18:46  sag

	* trunk/Makefile: Added auto-creation of ChangeLog to package
	  generation. Cleaned up rules for rebuilding reference manual

2003-07-07 17:00  sag

	* trunk/c/can/can_vector.cpp, trunk/inc/can/can_vector.h: Added
	  special code to allow the CAN interface to be opened in shared
	  mode.

2003-07-07 16:59  sag

	* trunk/c/Amp.cpp, trunk/c/AmpPDO.cpp, trunk/inc/CML_AmpDef.h: Fixed
	  a bug in Amp::Enable() which caused a timeout if the amplifier was
	  hardware disabled.

2003-07-02 18:07  sag

	* trunk/c/Can.cpp, trunk/c/EventMap.cpp, trunk/inc/CML_Can.h,
	  trunk/inc/CML_EventMap.h: Replaced pure virtual functions with
	  simple virtual functions with default implementations.

2003-07-02 17:17  sag

	* trunk/c/Can.cpp: Fixed syntax error (oops)

2003-07-02 17:17  sag

	* trunk/c/CML.cpp: Version 1.01

2003-07-02 17:15  sag

	* trunk/c/Can.cpp, trunk/c/EventMap.cpp: Added implementations for
	  some pure virtual functions

2003-06-18 19:27  sag

	* trunk/doc/readme.txt, trunk/examples/move/readme.txt,
	  trunk/examples/twoaxis/readme.txt: Updated readme files

2003-06-18 18:55  sag

	* trunk/c/CML.cpp: Changed version to 1.00

2003-06-18 18:54  sag

	* trunk/c/Can.cpp, trunk/c/can/can_kvaser.cpp,
	  trunk/c/can/can_vector.cpp, trunk/inc/CML_Can.h,
	  trunk/inc/can/can_ixxat.h, trunk/inc/can/can_kvaser.h,
	  trunk/inc/can/can_vector.h: Changed CAN interfaces to remove
	  #includes of manufacturer's headers from the CML headers. This
	  prevents conflicts between differnet headers when multiples
	  interfaces are used in the same project.

2003-06-18 18:53  sag

	* trunk/c/Amp.cpp: Added code to the Amp::Enable() call to wait for
	  the amp to actually become enabled before returning.

2003-06-18 16:16  sag

	* trunk/c/Can.cpp, trunk/c/can/can_ixxat.cpp,
	  trunk/c/can/can_kvaser.cpp, trunk/c/can/can_vector.cpp,
	  trunk/inc/CML_Can.h, trunk/inc/can/can_ixxat.h,
	  trunk/inc/can/can_kvaser.h, trunk/inc/can/can_vector.h: Changed
	  all windows CanInterface objects to use dynamic loading of their
	  .dll files

2003-06-16 18:53  sag

	* trunk/c/can/can_kvaser.cpp: Added #include "CML.h"

2003-06-16 14:29  sag

	* trunk/c/Linkage.cpp: Spelling errors

2003-06-16 14:28  sag

	* trunk/c/Linkage.cpp: Added some more smarts to latching error
	  message

2003-06-16 13:36  sag

	* trunk/c/Amp.cpp, trunk/inc/CML_Amp.h: Added more intelligence to
	  GetErrorStatus

2003-06-13 17:37  sag

	* trunk/c/Linkage.cpp, trunk/inc/CML_Linkage.h: Added better
	  reporting of errors and the amps that caused them

2003-06-12 20:08  sag

	* trunk/c/can/can_ixxat.cpp: Added support for CAN error frames

2003-06-12 20:04  sag

	* trunk/c/can/can_kvaser.cpp, trunk/c/can/can_vector.cpp: Added
	  support for CAN error frame reporting

2003-06-12 19:46  sag

	* trunk/c/can/can_ni.cpp, trunk/inc/can/can_ni.h: Removed old NI
	  drivers. These never worked well and haven't been tested much.

2003-06-12 19:15  sag

	* trunk/c/CML.cpp: Fixed a bug that could cause us to try to close a
	  log file that doesn't exist.

2003-06-12 19:10  sag

	* trunk/c/AmpFW.cpp, trunk/c/CML.cpp, trunk/c/CanOpen.cpp,
	  trunk/c/Node.cpp, trunk/c/PDO.cpp, trunk/c/SDO.cpp,
	  trunk/c/can/can_linux.cpp, trunk/inc/CML_Can.h,
	  trunk/inc/CML_CanOpen.h: Added support for CAN Error frames

2003-06-12 15:11  sag

	* trunk/c/Amp.cpp, trunk/c/CanOpen.cpp, trunk/inc/CML_Amp.h,
	  trunk/inc/CML_CanOpen.h, trunk/inc/CML_Node.h: Fixed a problem
	  with auto assignment of synch producers in systems with multiple
	  CANopen networks. Now, one synch producer will be assigned to each
	  network. This should also fix a CMO problem with the automatic
	  synch producer assignment caused by global variables not being
	  properly initialized.

2003-06-12 14:58  sag

	* trunk/c/CML.cpp: Version 0.31

2003-06-09 15:51  sag

	* trunk/c/AmpStruct.cpp: Fixed a comment

2003-06-09 15:37  sag

	* trunk/c/CML.cpp: Updated version number to 0.30

2003-06-09 15:27  sag

	* trunk/Makefile, trunk/c/AmpFile.cpp, trunk/c/AmpStruct.cpp,
	  trunk/inc/CML_AmpDef.h, trunk/inc/CML_AmpStruct.h: Added support
	  for reading .ccx files

2003-06-09 15:22  sag

	* trunk/c/Amp.cpp, trunk/inc/CML_Amp.h: Increased default heartbeat
	  & node guarding timeouts