cml__amp_8h-source.html

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<a name="l00186"></a>00186 <span class="comment"></span>
<a name="l00187"></a>00187 <span class="comment">   /// Synch object CAN message ID.</span>
<a name="l00188"></a>00188 <span class="comment">   /// This is the message ID used for the synch message.</span>
<a name="l00189"></a>00189 <span class="comment">   /// Default is 0x00000080</span>
<a name="l00190"></a><a class="code" href="classAmpSettings.html#o1">00190</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a10">uint32</a> <a class="code" href="classAmpSettings.html#o1">synchID</a>;
<a name="l00191"></a>00191 <span class="comment"></span>
<a name="l00192"></a>00192 <span class="comment">   /// Use first initialized amplifier as synch producer.</span>
<a name="l00193"></a>00193 <span class="comment">   /// If this setting is true (default), then the first amplifier</span>
<a name="l00194"></a>00194 <span class="comment">   /// to be initialized will be set as the synch producer, and</span>
<a name="l00195"></a>00195 <span class="comment">   /// all other amplifier's will be setup as synch consumers.</span>
<a name="l00196"></a>00196 <span class="comment">   /// This causes the value of the 'synchProducer' setting</span>
<a name="l00197"></a>00197 <span class="comment">   /// to be updated during init to indicate whether the amp</span>
<a name="l00198"></a>00198 <span class="comment">   /// is producing synch messages or not.</span>
<a name="l00199"></a>00199 <span class="comment">   ///</span>
<a name="l00200"></a>00200 <span class="comment">   /// By default, this setting is true</span>
<a name="l00201"></a><a class="code" href="classAmpSettings.html#o2">00201</a> <span class="comment"></span>   <span class="keywordtype">bool</span> <a class="code" href="classAmpSettings.html#o2">synchUseFirstAmp</a>;
<a name="l00202"></a>00202 <span class="comment"></span>
<a name="l00203"></a>00203 <span class="comment">   /// Synch producer (true/false)</span>
<a name="l00204"></a>00204 <span class="comment">   /// If true, this node will produce synch messages.</span>
<a name="l00205"></a>00205 <span class="comment">   /// Default: false</span>
<a name="l00206"></a>00206 <span class="comment">   ///</span>
<a name="l00207"></a>00207 <span class="comment">   /// Note: If the 'synchUseFirstAmp' setting of this object is true,</span>
<a name="l00208"></a>00208 <span class="comment">   ///       then the passed value of this settings will not be used, </span>
<a name="l00209"></a>00209 <span class="comment">   ///       and will be overwritten during initialization.</span>
<a name="l00210"></a>00210 <span class="comment">   ///</span>
<a name="l00211"></a>00211 <span class="comment">   /// Note: There should be exactly one synch producer on every network.</span>
<a name="l00212"></a><a class="code" href="classAmpSettings.html#o3">00212</a> <span class="comment"></span>   <span class="keywordtype">bool</span> <a class="code" href="classAmpSettings.html#o3">synchProducer</a>;
<a name="l00213"></a>00213 <span class="comment"></span>
<a name="l00214"></a>00214 <span class="comment">   /// High resolution time stamp CAN ID.  The high resolution time stamp</span>
<a name="l00215"></a>00215 <span class="comment">   /// is a PDO that is generated by the synch producer and consumed by </span>
<a name="l00216"></a>00216 <span class="comment">   /// the other amplifiers on the network.  It is used to synchronize the</span>
<a name="l00217"></a>00217 <span class="comment">   /// clocks of the amplifiers.  This parameter defines the CAN ID that</span>
<a name="l00218"></a>00218 <span class="comment">   /// will be used for this message.</span>
<a name="l00219"></a>00219 <span class="comment">   /// Setting to zero will disable the time stamp message.</span>
<a name="l00220"></a>00220 <span class="comment">   /// Default 0x0180</span>
<a name="l00221"></a><a class="code" href="classAmpSettings.html#o4">00221</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a10">uint32</a> <a class="code" href="classAmpSettings.html#o4">timeStampID</a>;
<a name="l00222"></a>00222 <span class="comment"></span>
<a name="l00223"></a>00223 <span class="comment">   /// The CANopen heartbeat protocol is one of two standard methods used</span>
<a name="l00224"></a>00224 <span class="comment">   /// to constantly watch for network or device problems.  </span>
<a name="l00225"></a>00225 <span class="comment">   /// When the heartbeat protocol is used, each device on the CANopen</span>
<a name="l00226"></a>00226 <span class="comment">   /// network transmits a 'heartbeat' message at a specified interval.</span>
<a name="l00227"></a>00227 <span class="comment">   /// The network master watches for these messages, and is able to </span>
<a name="l00228"></a>00228 <span class="comment">   /// detect a device error if it's heartbeat message is not received</span>
<a name="l00229"></a>00229 <span class="comment">   /// within the expected time.</span>
<a name="l00230"></a>00230 <span class="comment">   ///</span>
<a name="l00231"></a>00231 <span class="comment">   /// This parameter configures the heartbeat period (milliseconds)</span>
<a name="l00232"></a>00232 <span class="comment">   /// that will be used by this amplifier to transmit it's heartbeat</span>
<a name="l00233"></a>00233 <span class="comment">   /// message.</span>
<a name="l00234"></a>00234 <span class="comment">   ///</span>
<a name="l00235"></a>00235 <span class="comment">   /// If this parameter is set to zero, then the heartbeat protocol</span>
<a name="l00236"></a>00236 <span class="comment">   /// is disabled on this node.</span>
<a name="l00237"></a>00237 <span class="comment">   ///</span>
<a name="l00238"></a>00238 <span class="comment">   /// Default: zero (not used)</span>
<a name="l00239"></a><a class="code" href="classAmpSettings.html#o5">00239</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <a class="code" href="classAmpSettings.html#o5">heartbeatPeriod</a>;
<a name="l00240"></a>00240 <span class="comment"></span>
<a name="l00241"></a>00241 <span class="comment">   /// Additional time to wait before generating a heartbeat error (milliseconds)</span>
<a name="l00242"></a>00242 <span class="comment">   /// If the heartbeat protocol is used, then this value, combined with the</span>
<a name="l00243"></a>00243 <span class="comment">   /// heartbeatTime will determine how long the network master waits for the</span>
<a name="l00244"></a>00244 <span class="comment">   /// node's heartbeat message before it generates a heartbeat error.</span>
<a name="l00245"></a>00245 <span class="comment">   ///</span>
<a name="l00246"></a>00246 <span class="comment">   /// Note that setting this to zero does not disable the heartbeat protocol.</span>
<a name="l00247"></a>00247 <span class="comment">   /// set the heartbeatPeriod value to zero to disable heartbeat.</span>
<a name="l00248"></a>00248 <span class="comment">   ///</span>
<a name="l00249"></a>00249 <span class="comment">   /// Default 200 (ms)</span>
<a name="l00250"></a><a class="code" href="classAmpSettings.html#o6">00250</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <a class="code" href="classAmpSettings.html#o6">heartbeatTimeout</a>;
<a name="l00251"></a>00251 <span class="comment"></span>
<a name="l00252"></a>00252 <span class="comment">   /// Node guarding guard time (milliseconds)</span>
<a name="l00253"></a>00253 <span class="comment">   ///</span>
<a name="l00254"></a>00254 <span class="comment">   /// The CANopen node guarding protocol is a second method (the first being the</span>
<a name="l00255"></a>00255 <span class="comment">   /// heartbeat protocol) for devices on the network to watch for network problems.</span>
<a name="l00256"></a>00256 <span class="comment">   /// In this protocol, the master controller sends a request message out to the </span>
<a name="l00257"></a>00257 <span class="comment">   /// slave device at a specified interval.  The slave device responds to this </span>
<a name="l00258"></a>00258 <span class="comment">   /// request with a message indicating it's state.</span>
<a name="l00259"></a>00259 <span class="comment">   ///</span>
<a name="l00260"></a>00260 <span class="comment">   /// The main difference between this protocol and the heartbeat protocol is that</span>
<a name="l00261"></a>00261 <span class="comment">   /// both the slave node and the master are able to recognize network errors.</span>
<a name="l00262"></a>00262 <span class="comment">   /// With the heartbeat protocol only the network master is able to identify </span>
<a name="l00263"></a>00263 <span class="comment">   /// network problems.</span>
<a name="l00264"></a>00264 <span class="comment">   ///</span>
<a name="l00265"></a>00265 <span class="comment">   /// Note that only one of these two protocols can be active in a node device at</span>
<a name="l00266"></a>00266 <span class="comment">   /// any time.  If the heartbeat period is non-zero, then the heartbeat protocol</span>
<a name="l00267"></a>00267 <span class="comment">   /// will be used.</span>
<a name="l00268"></a>00268 <span class="comment">   ///</span>
<a name="l00269"></a>00269 <span class="comment">   /// This parameter gives the node guarding period for use with this node.  This</span>
<a name="l00270"></a>00270 <span class="comment">   /// is the period between node guarding request messages sent by the master </span>
<a name="l00271"></a>00271 <span class="comment">   /// controller.</span>
<a name="l00272"></a>00272 <span class="comment">   ///</span>
<a name="l00273"></a>00273 <span class="comment">   /// Note that both this parameter, and the life time factor must be non-zero for</span>
<a name="l00274"></a>00274 <span class="comment">   /// node guarding to be used.</span>
<a name="l00275"></a>00275 <span class="comment">   ///</span>
<a name="l00276"></a>00276 <span class="comment">   /// Default 200 (ms)</span>
<a name="l00277"></a><a class="code" href="classAmpSettings.html#o7">00277</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <a class="code" href="classAmpSettings.html#o7">guardTime</a>;
<a name="l00278"></a>00278 <span class="comment"></span>
<a name="l00279"></a>00279 <span class="comment">   /// Node guarding life time factor</span>
<a name="l00280"></a>00280 <span class="comment">   ///</span>
<a name="l00281"></a>00281 <span class="comment">   /// When the node guarding protocol is used, this parameter is used by the slave</span>
<a name="l00282"></a>00282 <span class="comment">   /// device to determine how long to wait for a node guarding request from the </span>