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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Copley Motion Library: AmpPDO.cpp Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Class List</a> | <a class="qindex" href="dirs.html">Directories</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Class Members</a> | <a class="qindex" href="globals.html">File Members</a></div><div class="nav"><a class="el" href="dir_000000.html">c</a></div><h1>AmpPDO.cpp</h1><a href="AmpPDO_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/************************************************************/</span><a name="l00002"></a>00002 <span class="comment">/* */</span><a name="l00003"></a>00003 <span class="comment">/* Copley Motion Libraries */</span><a name="l00004"></a>00004 <span class="comment">/* */</span><a name="l00005"></a>00005 <span class="comment">/* Author: Stephen Glow */</span><a name="l00006"></a>00006 <span class="comment">/* */</span><a name="l00007"></a>00007 <span class="comment">/* Copyright (c) 2002-2005 Copley Controls Corp. */</span><a name="l00008"></a>00008 <span class="comment">/* http://www.copleycontrols.com */</span><a name="l00009"></a>00009 <span class="comment">/* */</span><a name="l00010"></a>00010 <span class="comment">/************************************************************/</span><a name="l00011"></a>00011 <span class="comment"></span><a name="l00012"></a>00012 <span class="comment">/** \file</span><a name="l00013"></a>00013 <span class="comment">This file contains code that implements PDO objects used by the</span><a name="l00014"></a>00014 <span class="comment">Copley Controls amplifier object.</span><a name="l00015"></a>00015 <span class="comment">*/</span><a name="l00016"></a>00016 <a name="l00017"></a>00017 <span class="preprocessor">#include "<a class="code" href="CML_8h.html">CML.h</a>"</span><a name="l00018"></a>00018 <a name="l00019"></a>00019 <a class="code" href="CML__Settings_8h.html#a13">CML_NAMESPACE_USE</a>();<a name="l00020"></a>00020 <a name="l00021"></a>00021 <span class="comment">/****************************************************************</span><a name="l00022"></a>00022 <span class="comment">* CANopen drive status bits (CANopen 402 Object 0x6041)</span><a name="l00023"></a>00023 <span class="comment">*****************************************************************/</span><a name="l00024"></a><a class="code" href="AmpPDO_8cpp.html#a0">00024</a> <span class="preprocessor">#define DRIVESTAT_RTSO 0x0001 // Ready to switch on</span><a name="l00025"></a><a class="code" href="AmpPDO_8cpp.html#a1">00025</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_ON 0x0002 // Switched on</span><a name="l00026"></a><a class="code" href="AmpPDO_8cpp.html#a2">00026</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_ENA 0x0004 // Operation enabled</span><a name="l00027"></a><a class="code" href="AmpPDO_8cpp.html#a3">00027</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_FAULT 0x0008 // A fault has occurred on the drive</span><a name="l00028"></a><a class="code" href="AmpPDO_8cpp.html#a4">00028</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_VENA 0x0010 // Voltage enabled</span><a name="l00029"></a><a class="code" href="AmpPDO_8cpp.html#a5">00029</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_QSTOP 0x0020 // Doing quick stop when CLEAR</span><a name="l00030"></a><a class="code" href="AmpPDO_8cpp.html#a6">00030</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_SOD 0x0040 // Switch-on disabled</span><a name="l00031"></a><a class="code" href="AmpPDO_8cpp.html#a7">00031</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_WARN 0x0080 // A warning condition is in effect</span><a name="l00032"></a><a class="code" href="AmpPDO_8cpp.html#a8">00032</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_ABORT 0x0100 // Trajectory aborted</span><a name="l00033"></a><a class="code" href="AmpPDO_8cpp.html#a9">00033</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_REMOTE 0x0200 // Controlled by CANopen network if set</span><a name="l00034"></a><a class="code" href="AmpPDO_8cpp.html#a10">00034</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_MOVEDONE 0x0400 // Target reached</span><a name="l00035"></a><a class="code" href="AmpPDO_8cpp.html#a11">00035</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_LIMIT 0x0800 // Internal limit active</span><a name="l00036"></a><a class="code" href="AmpPDO_8cpp.html#a12">00036</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_SPACK 0x1000 // pp mode - setpoint acknowledge</span><a name="l00037"></a><a class="code" href="AmpPDO_8cpp.html#a13">00037</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_TRACKERR 0x2000 // pp mode - following error</span><a name="l00038"></a><a class="code" href="AmpPDO_8cpp.html#a14">00038</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_REFERENCED 0x1000 // home mode - drive has been referenced</span><a name="l00039"></a><a class="code" href="AmpPDO_8cpp.html#a15">00039</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_HOMEERR 0x2000 // home mode - homing error</span><a name="l00040"></a><a class="code" href="AmpPDO_8cpp.html#a16">00040</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_TRJ 0x4000 // Trajectory active when set</span><a name="l00041"></a><a class="code" href="AmpPDO_8cpp.html#a17">00041</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVESTAT_HOMECAP 0x8000 // Home position captured (requires 4.77+ firmware)</span><a name="l00042"></a>00042 <span class="preprocessor"></span><a name="l00043"></a>00043 <span class="comment">// Event status bits that are considered amplifier errors</span><a name="l00044"></a><a class="code" href="AmpPDO_8cpp.html#a18">00044</a> <span class="preprocessor">#define ERROR_EVENTS (ESTAT_SHORT_CRCT | ESTAT_AMP_TEMP | ESTAT_MTR_TEMP | ESTAT_ENCODER_PWR | \</span><a name="l00045"></a>00045 <span class="preprocessor"> ESTAT_PHASE_ERR | ESTAT_TRK_ERR | ESTAT_UNDER_VOLT | ESTAT_OVER_VOLT)</span><a name="l00046"></a>00046 <span class="preprocessor"></span><a name="l00047"></a>00047 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00048"></a>00048 <span class="comment">/**</span><a name="l00049"></a>00049 <span class="comment">Initialize a transmit PDO used to send status updates.</span><a name="l00050"></a>00050 <span class="comment">The PDO is initialized to transmit a PDO on status events</span><a name="l00051"></a>00051 <span class="comment">which occur when the amp status changes.</span><a name="l00052"></a>00052 <span class="comment"></span><a name="l00053"></a>00053 <span class="comment">@param amp Reference to the amplifier object </span><a name="l00054"></a>00054 <span class="comment">@param slot TPDO slot number for this PDO</span><a name="l00055"></a>00055 <span class="comment">@return An error object</span><a name="l00056"></a>00056 <span class="comment">*/</span><a name="l00057"></a>00057 <span class="comment">/***************************************************************************/</span><a name="l00058"></a><a class="code" href="classTPDO__Status.html#a1">00058</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classPDO.html#a2">TPDO_Status::Init</a>( <a class="code" href="classAmp.html">Amp</a> &amp, <a class="code" href="CML__Utils_8h.html#a8">uint16</a> slot )<a name="l00059"></a>00059 {<a name="l00060"></a>00060 <a class="code" href="CML_8h.html#a0">cml</a>.<a class="code" href="classCopleyMotionLibrary.html#a8">Debug</a>( <span class="stringliteral">"Amp %d Status PDO Init\n"</span>, amp.<a class="code" href="classNode.html#a38">GetNodeID</a>() );<a name="l00061"></a>00061 ampPtr = &amp;<a name="l00062"></a>00062 <a name="l00063"></a>00063 <span class="comment">// Initialize the transmit PDO</span><a name="l00064"></a>00064 <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classPDO.html#a2">TPDO::Init</a>( amp.<a class="code" href="classReceiver.html#a9">GetCanOpen</a>(), amp.<a class="code" href="classNode.html#a37">GetTpdoCobID</a>( slot ) );<a name="l00065"></a>00065 <a name="l00066"></a>00066 <span class="comment">// Set transmit type to transmit on events</span><a name="l00067"></a>00067 <span class="keywordflow">if</span>( !err ) <a name="l00068"></a>00068 err = <a class="code" href="classPDO.html#a5">SetType</a>( 255 );<a name="l00069"></a>00069 <a name="l00070"></a>00070 <span class="comment">// Let the various mapped variables know which </span><a name="l00071"></a>00071 <span class="comment">// objects in the amp's object dictionary they</span><a name="l00072"></a>00072 <span class="comment">// are linked to.</span><a name="l00073"></a>00073 <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classTPDO__Status.html#o0">status</a>.<a class="code" href="classPmap16.html#a2">Init</a>( OBJID_STATUS, 0 );<a name="l00074"></a>00074 <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classTPDO__Status.html#o1">estat</a>.<a class="code" href="classPmap32.html#a2">Init</a>( OBJID_EVENT_STAT, 0 );<a name="l00075"></a>00075 <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classTPDO__Status.html#o2">inputs</a>.<a class="code" href="classPmap16.html#a2">Init</a>( OBJID_INPUTS, 0 );<a name="l00076"></a>00076 <a name="l00077"></a>00077 <span class="comment">// Add the mapped variables</span><a name="l00078"></a>00078 <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classPDO.html#a8">AddVar</a>( <a class="code" href="classTPDO__Status.html#o0">status</a> );<a name="l00079"></a>00079 <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classPDO.html#a8">AddVar</a>( <a class="code" href="classTPDO__Status.html#o1">estat</a> );<a name="l00080"></a>00080 <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classPDO.html#a8">AddVar</a>( <a class="code" href="classTPDO__Status.html#o2">inputs</a> );<a name="l00081"></a>00081 <a name="l00082"></a>00082 <span class="comment">// Enable reception of this PDOs messages</span><a name="l00083"></a>00083 <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classReceiver.html#a7">EnableReceiver</a>();<a name="l00084"></a>00084 <a name="l00085"></a>00085 <span class="comment">// Set the amplifier's event map to the uninitialized state</span><a name="l00086"></a>00086 ampPtr-><a class="code" href="classAmp.html#p0">eventMap</a>.<a class="code" href="classEventMap.html#a5">setMask</a>( <a class="code" href="CML__AmpDef_8h.html#a399a264">AMPEVENT_NOT_INIT</a> );<a name="l00087"></a>00087 <a name="l00088"></a>00088 <span class="comment">// Program this PDO in the amp, and enable it</span><a name="l00089"></a>00089 <span class="keywordflow">if</span>( !err ) err = amp.<a class="code" href="classNode.html#a8">PdoSet</a>( slot, *<span class="keyword">this</span> );<a name="l00090"></a>00090 <a name="l00091"></a>00091 <span class="keywordflow">return</span> err;<a name="l00092"></a>00092 }<a name="l00093"></a>00093 ⌨️ 快捷键说明
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