amppdo_8cpp-source.html

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<a name="l00094"></a>00094 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment">/**</span>
<a name="l00096"></a>00096 <span class="comment">Handle the reception of status information.  This PDO waits for one of the</span>
<a name="l00097"></a>00097 <span class="comment">required bits in the status word to be set, and posts new events to the </span>
<a name="l00098"></a>00098 <span class="comment">amplifier as they occur.</span>
<a name="l00099"></a>00099 <span class="comment">*/</span>
<a name="l00100"></a>00100 <span class="comment">/***************************************************************************/</span>
<a name="l00101"></a><a class="code" href="classTPDO__Status.html#a2">00101</a> <span class="keywordtype">void</span> <a class="code" href="classTPDO__Status.html#a2">TPDO_Status::Received</a>()
<a name="l00102"></a>00102 {
<a name="l00103"></a>00103    <a class="code" href="CML__Utils_8h.html#a8">uint16</a> s = <a class="code" href="classTPDO__Status.html#o0">status</a>.<a class="code" href="classPmap16.html#a5">Read</a>();
<a name="l00104"></a>00104    <a class="code" href="CML__Utils_8h.html#a10">uint32</a> e = <a class="code" href="classTPDO__Status.html#o1">estat</a>.<a class="code" href="classPmap32.html#a5">Read</a>();
<a name="l00105"></a>00105    <a class="code" href="CML__Utils_8h.html#a8">uint16</a> i = <a class="code" href="classTPDO__Status.html#o2">inputs</a>.<a class="code" href="classPmap16.html#a5">Read</a>();
<a name="l00106"></a>00106    <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 0x%08x 0x%04x 0x%04x\n"</span>, ampPtr-&gt;<a class="code" href="classNode.html#a38">GetNodeID</a>(), e, s, i );
<a name="l00107"></a>00107    UpdateEvents( s, e, i );
<a name="l00108"></a>00108 }
<a name="l00109"></a>00109 
<a name="l00110"></a>00110 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment">/**</span>
<a name="l00112"></a>00112 <span class="comment">Update the amplifier's event map based on the status information received</span>
<a name="l00113"></a>00113 <span class="comment">by this PDO.</span>
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment">@param stat The device status word</span>
<a name="l00116"></a>00116 <span class="comment">*/</span>
<a name="l00117"></a>00117 <span class="comment">/***************************************************************************/</span>
<a name="l00118"></a>00118 <span class="keywordtype">void</span> TPDO_Status::UpdateEvents( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> stat, <a class="code" href="CML__Utils_8h.html#a10">uint32</a> events, <a class="code" href="CML__Utils_8h.html#a8">uint16</a> inputs )
<a name="l00119"></a>00119 {
<a name="l00120"></a>00120    <a class="code" href="CML__Utils_8h.html#a10">uint32</a> mask = 0;
<a name="l00121"></a>00121 
<a name="l00122"></a>00122    <span class="keywordflow">if</span>(  stat &amp; <a class="code" href="AmpPDO_8cpp.html#a12">DRIVESTAT_SPACK</a>    ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a248">AMPEVENT_SPACK</a>;
<a name="l00123"></a>00123    <span class="keywordflow">if</span>(  stat &amp; <a class="code" href="AmpPDO_8cpp.html#a10">DRIVESTAT_MOVEDONE</a> ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a245">AMPEVENT_MOVEDONE</a>;
<a name="l00124"></a>00124    <span class="keywordflow">if</span>( ~stat &amp; <a class="code" href="AmpPDO_8cpp.html#a16">DRIVESTAT_TRJ</a>      ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a246">AMPEVENT_TRJDONE</a>;
<a name="l00125"></a>00125    <span class="keywordflow">if</span>( ~stat &amp; <a class="code" href="AmpPDO_8cpp.html#a5">DRIVESTAT_QSTOP</a>    ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a259">AMPEVENT_QUICKSTOP</a>;
<a name="l00126"></a>00126    <span class="keywordflow">if</span>(  stat &amp; <a class="code" href="AmpPDO_8cpp.html#a8">DRIVESTAT_ABORT</a>    ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a260">AMPEVENT_ABORT</a>;
<a name="l00127"></a>00127    <span class="keywordflow">if</span>(  stat &amp; <a class="code" href="AmpPDO_8cpp.html#a17">DRIVESTAT_HOMECAP</a>  ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a262">AMPEVENT_HOME_CAPTURE</a>;
<a name="l00128"></a>00128 
<a name="l00129"></a>00129    <span class="keywordflow">if</span>( events &amp; <a class="code" href="AmpPDO_8cpp.html#a18">ERROR_EVENTS</a>      ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a250">AMPEVENT_ERROR</a>;
<a name="l00130"></a>00130    <span class="keywordflow">if</span>( events &amp; <a class="code" href="CML__AmpDef_8h.html#a398a237">ESTAT_FAULT</a>       ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a249">AMPEVENT_FAULT</a>;
<a name="l00131"></a>00131    <span class="keywordflow">if</span>( events &amp; <a class="code" href="CML__AmpDef_8h.html#a398a234">ESTAT_TRK_WARN</a>    ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a251">AMPEVENT_POSWARN</a>;
<a name="l00132"></a>00132    <span class="keywordflow">if</span>( events &amp; <a class="code" href="CML__AmpDef_8h.html#a398a240">ESTAT_TRK_WIN</a>     ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a252">AMPEVENT_POSWIN</a>;
<a name="l00133"></a>00133    <span class="keywordflow">if</span>( events &amp; <a class="code" href="CML__AmpDef_8h.html#a398a243">ESTAT_VEL_WIN</a>     ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a253">AMPEVENT_VELWIN</a>;
<a name="l00134"></a>00134    <span class="keywordflow">if</span>( events &amp; <a class="code" href="CML__AmpDef_8h.html#a398a230">ESTAT_PWM_DISABLE</a> ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a254">AMPEVENT_DISABLED</a>;
<a name="l00135"></a>00135    <span class="keywordflow">if</span>( events &amp; <a class="code" href="CML__AmpDef_8h.html#a398a224">ESTAT_POSLIM</a>      ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a255">AMPEVENT_POSLIM</a>;    
<a name="l00136"></a>00136    <span class="keywordflow">if</span>( events &amp; <a class="code" href="CML__AmpDef_8h.html#a398a225">ESTAT_NEGLIM</a>      ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a256">AMPEVENT_NEGLIM</a>;
<a name="l00137"></a>00137    <span class="keywordflow">if</span>( events &amp; <a class="code" href="CML__AmpDef_8h.html#a398a231">ESTAT_SOFTLIM_POS</a> ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a257">AMPEVENT_SOFTLIM_POS</a>;
<a name="l00138"></a>00138    <span class="keywordflow">if</span>( events &amp; <a class="code" href="CML__AmpDef_8h.html#a398a232">ESTAT_SOFTLIM_NEG</a> ) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a258">AMPEVENT_SOFTLIM_NEG</a>;
<a name="l00139"></a>00139    <span class="keywordflow">if</span>( events &amp; <a class="code" href="CML__AmpDef_8h.html#a398a227">ESTAT_SOFT_DISABLE</a>) mask |= <a class="code" href="CML__AmpDef_8h.html#a399a261">AMPEVENT_SOFTDISABLE</a>;
<a name="l00140"></a>00140 
<a name="l00141"></a>00141    <span class="comment">// On new move aborts, do some clean up.</span>
<a name="l00142"></a>00142    <span class="keywordflow">if</span>( mask &amp; <a class="code" href="CML__AmpDef_8h.html#a399a260">AMPEVENT_ABORT</a> )
<a name="l00143"></a>00143    {
<a name="l00144"></a>00144       <a class="code" href="CML__Utils_8h.html#a10">uint32</a> old = ampPtr-&gt;<a class="code" href="classAmp.html#p0">eventMap</a>.<a class="code" href="classEventMap.html#a4">getMask</a>();
<a name="l00145"></a>00145 
<a name="l00146"></a>00146       <span class="keywordflow">if</span>( !(old &amp; <a class="code" href="CML__AmpDef_8h.html#a399a260">AMPEVENT_ABORT</a>) )
<a name="l00147"></a>00147     ampPtr-&gt;<a class="code" href="classAmp.html#d2">MoveAborted</a>();
<a name="l00148"></a>00148    }
<a name="l00149"></a>00149 
<a name="l00150"></a>00150    <span class="comment">// Do the same thing if the amplifier is disabled while </span>
<a name="l00151"></a>00151    <span class="comment">// a trajectory was in progress</span>
<a name="l00152"></a>00152    <span class="keywordflow">if</span>( mask &amp; <a class="code" href="CML__AmpDef_8h.html#a399a254">AMPEVENT_DISABLED</a> )
<a name="l00153"></a>00153    {
<a name="l00154"></a>00154       <a class="code" href="CML__Utils_8h.html#a10">uint32</a> old = ampPtr-&gt;<a class="code" href="classAmp.html#p0">eventMap</a>.<a class="code" href="classEventMap.html#a4">getMask</a>();
<a name="l00155"></a>00155 
<a name="l00156"></a>00156       <span class="keywordflow">if</span>( !(old &amp; <a class="code" href="CML__AmpDef_8h.html#a399a246">AMPEVENT_TRJDONE</a>) )
<a name="l00157"></a>00157     ampPtr-&gt;<a class="code" href="classAmp.html#d2">MoveAborted</a>();
<a name="l00158"></a>00158    }
<a name="l00159"></a>00159 
<a name="l00160"></a>00160    <span class="comment">// Change the bits that this function is responsible for.</span>
<a name="l00161"></a>00161    <span class="comment">// for now, that's everything but the node guarding </span>
<a name="l00162"></a>00162    <span class="comment">// and PVT buffer empty bits.</span>
<a name="l00163"></a>00163    ampPtr-&gt;<a class="code" href="classAmp.html#p0">eventMap</a>.<a class="code" href="classEventMap.html#a8">changeBits</a>( ~(<a class="code" href="CML__AmpDef_8h.html#a399a263">AMPEVENT_PVT_EMPTY</a>|<a class="code" href="CML__AmpDef_8h.html#a399a247">AMPEVENT_NODEGUARD</a>), mask );
<a name="l00164"></a>00164 
<a name="l00165"></a>00165    <span class="comment">// Update the input pins state</span>
<a name="l00166"></a>00166    ampPtr-&gt;<a class="code" href="classAmp.html#r2">inputStateMap</a>.<a class="code" href="classEventMap.html#a5">setMask</a>( (<a class="code" href="CML__Utils_8h.html#a10">uint32</a>)inputs );
<a name="l00167"></a>00167 }
<a name="l00168"></a>00168 
<a name="l00169"></a>00169 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00170"></a>00170 <span class="comment">/**</span>
<a name="l00171"></a>00171 <span class="comment">Transmit PDO used to send out high resolution time stamp messages.</span>
<a name="l00172"></a>00172 <span class="comment">By default, the synch producer is configured to generate this PDO</span>
<a name="l00173"></a>00173 <span class="comment">every 100 ms.</span>
<a name="l00174"></a>00174 <span class="comment">*/</span>
<a name="l00175"></a>00175 <span class="comment">/***************************************************************************/</span>
<a name="l00176"></a>00176 <span class="keyword">class </span>TPDO_HighResTime: <span class="keyword">public</span> <a class="code" href="classTPDO.html">TPDO</a>
<a name="l00177"></a>00177 {
<a name="l00178"></a>00178    <a class="code" href="classPmap32.html">Pmap32</a> stamp;                      <span class="comment">///&lt; Used to map the high resolution time stamp information</span>
<a name="l00179"></a>00179 <span class="comment"></span><span class="keyword">public</span>:<span class="comment"></span>
<a name="l00180"></a>00180 <span class="comment">   /// Default constructor for a high res timestamp transmit PDO</span>
<a name="l00181"></a>00181 <span class="comment"></span>   TPDO_HighResTime(){}
<a name="l00182"></a>00182    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classPDO.html#a2">Init</a>( <a class="code" href="classAmp.html">Amp</a> &amp;amp, <a class="code" href="CML__Utils_8h.html#a8">uint16</a> slot, <a class="code" href="CML__Utils_8h.html#a10">uint32</a> <span class="keywordtype">id</span> );
<a name="l00183"></a>00183 };
<a name="l00184"></a>00184 
<a name="l00185"></a>00185 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00186"></a>00186 <span class="comment">/**</span>
<a name="l00187"></a>00187 <span class="comment">Receive PDO used to receive high resolution time stamp messages.</span>
<a name="l00188"></a>00188 <span class="comment">By default, all synch consumers are configured to receive this PDO.</span>
<a name="l00189"></a>00189 <span class="comment">*/</span>
<a name="l00190"></a>00190 <span class="comment">/***************************************************************************/</span>
<a name="l00191"></a>00191 <span class="keyword">class </span>RPDO_HighResTime: <span class="keyword">public</span> <a class="code" href="classRPDO.html">RPDO</a>
<a name="l00192"></a>00192 {
<a name="l00193"></a>00193    <a class="code" href="classPmap32.html">Pmap32</a> stamp;                      <span class="comment">///&lt; Used to map the high resolution time stamp information</span>
<a name="l00194"></a>00194 <span class="comment"></span><span class="keyword">public</span>:
<a name="l00195"></a>00195    RPDO_HighResTime(){}