ampstruct_8cpp-source.html

来自「美国COPLEY驱动器,程序开发工具之一.」· HTML 代码 · 共 446 行 · 第 1/5 页

<a name="l00172"></a>00172    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( OBJID_MOTOR_INFO, 29, info.<a class="code" href="structMtrInfo.html#o28">stepsPerRev</a> );
<a name="l00173"></a>00173 
<a name="l00174"></a>00174    <span class="comment">// Upload the rest of the parameters to temporary locations</span>
<a name="l00175"></a>00175    <span class="comment">// and convert them into the units used in the MtrInfo structure.</span>
<a name="l00176"></a>00176    <a class="code" href="CML__Utils_8h.html#a7">int16</a> wiring, tSense, brake, encDir;
<a name="l00177"></a>00177    <a class="code" href="CML__Utils_8h.html#a9">int32</a> maxVel, bVel;
<a name="l00178"></a>00178 
<a name="l00179"></a>00179    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO,  3, wiring   );
<a name="l00180"></a>00180    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO,  7, info.<a class="code" href="structMtrInfo.html#o4">resistance</a> );
<a name="l00181"></a>00181    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO,  8, info.<a class="code" href="structMtrInfo.html#o5">inductance</a> );
<a name="l00182"></a>00182 
<a name="l00183"></a>00183    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( OBJID_MOTOR_INFO,  9, info.<a class="code" href="structMtrInfo.html#o11">inertia</a> );
<a name="l00184"></a>00184    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( OBJID_MOTOR_INFO, 10, info.<a class="code" href="structMtrInfo.html#o10">backEMF</a> );
<a name="l00185"></a>00185    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( OBJID_MOTOR_INFO, 11, maxVel   );
<a name="l00186"></a>00186    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( OBJID_MOTOR_INFO, 12, info.<a class="code" href="structMtrInfo.html#o8">trqConst</a> );
<a name="l00187"></a>00187    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( OBJID_MOTOR_INFO, 13, info.<a class="code" href="structMtrInfo.html#o6">trqPeak</a>  );
<a name="l00188"></a>00188    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( OBJID_MOTOR_INFO, 14, info.<a class="code" href="structMtrInfo.html#o7">trqCont</a>  );
<a name="l00189"></a>00189 
<a name="l00190"></a>00190    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO, 15, tSense   );
<a name="l00191"></a>00191    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO, 16, brake    );
<a name="l00192"></a>00192 
<a name="l00193"></a>00193    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( OBJID_MOTOR_INFO, 19, bVel     );
<a name="l00194"></a>00194    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO, 22, encDir   );
<a name="l00195"></a>00195 
<a name="l00196"></a>00196    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00197"></a>00197 
<a name="l00198"></a>00198    <span class="comment">// Now, convert the uploaded values to more convenient units.</span>
<a name="l00199"></a>00199    info.<a class="code" href="structMtrInfo.html#o13">mtrReverse</a> = wiring ? <span class="keyword">true</span> : <span class="keyword">false</span>;
<a name="l00200"></a>00200    info.<a class="code" href="structMtrInfo.html#o14">encReverse</a> = encDir ? <span class="keyword">true</span> : <span class="keyword">false</span>;
<a name="l00201"></a>00201    info.<a class="code" href="structMtrInfo.html#o18">hasBrake</a>   = brake ? <span class="keyword">false</span> : <span class="keyword">true</span>;
<a name="l00202"></a>00202    info.<a class="code" href="structMtrInfo.html#o12">tempSensor</a> = tSense ? <span class="keyword">true</span> : <span class="keyword">false</span>;
<a name="l00203"></a>00203 
<a name="l00204"></a>00204    info.<a class="code" href="structMtrInfo.html#o9">velMax</a>     = <a class="code" href="classAmp.html#z15_8">VelMtr2User</a>( maxVel );
<a name="l00205"></a>00205    info.<a class="code" href="structMtrInfo.html#o21">brakeVel</a>   = <a class="code" href="classAmp.html#z15_8">VelMtr2User</a>( bVel );
<a name="l00206"></a>00206 
<a name="l00207"></a>00207    <span class="comment">// Check for some parameters that we added in later versions of firmware.</span>
<a name="l00208"></a>00208    <a class="code" href="CML__Utils_8h.html#a6">uint8</a> ct;
<a name="l00209"></a>00209    err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a13">Upld8</a>( OBJID_MOTOR_INFO,  0, ct );
<a name="l00210"></a>00210    <span class="keywordflow">if</span>( !err &amp;&amp; (ct &gt;=30) ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO, 30, info.<a class="code" href="structMtrInfo.html#o31">loadEncType</a> );
<a name="l00211"></a>00211    <span class="keywordflow">if</span>( !err &amp;&amp; (ct &gt;=31) ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO, 31, encDir );
<a name="l00212"></a>00212    <span class="keywordflow">if</span>( !err &amp;&amp; (ct &gt;=32) ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( OBJID_MOTOR_INFO, 32, info.<a class="code" href="structMtrInfo.html#o32">loadEncRes</a>  );
<a name="l00213"></a>00213    info.<a class="code" href="structMtrInfo.html#o33">loadEncReverse</a> = encDir ? <span class="keyword">true</span> : <span class="keyword">false</span>;
<a name="l00214"></a>00214 
<a name="l00215"></a>00215    <span class="comment">// Firmware versions before 4.42 had a bug which prevented reading the gear ratio</span>
<a name="l00216"></a>00216    <span class="comment">// or resolver cycles/rev parameters.</span>
<a name="l00217"></a>00217    <span class="keywordflow">if</span>( SwVersionNum &lt; <a class="code" href="AmpParam_8cpp.html#a0">VERSION</a>(4,42) )
<a name="l00218"></a>00218       <span class="keywordflow">return</span> err;
<a name="l00219"></a>00219 
<a name="l00220"></a>00220    <span class="keywordflow">if</span>( !err &amp;&amp; (ct &gt;=33) ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( OBJID_MOTOR_INFO, 33, info.<a class="code" href="structMtrInfo.html#o34">gearRatio</a> );
<a name="l00221"></a>00221    <span class="keywordflow">if</span>( !err &amp;&amp; (ct &gt;=34) ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO, 34, info.<a class="code" href="structMtrInfo.html#o35">resolverCycles</a> );
<a name="l00222"></a>00222 
<a name="l00223"></a>00223    <span class="keywordflow">if</span>( !err &amp;&amp; (SwVersionNum &gt;= <a class="code" href="AmpParam_8cpp.html#a0">VERSION</a>(4,56)) )
<a name="l00224"></a>00224       err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_HALLVEL_SHIFT, 0, info.<a class="code" href="structMtrInfo.html#o36">hallVelShift</a> );
<a name="l00225"></a>00225 
<a name="l00226"></a>00226    <span class="keywordflow">return</span> err;
<a name="l00227"></a>00227 }
<a name="l00228"></a>00228 
<a name="l00229"></a>00229 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00230"></a>00230 <span class="comment">/**</span>
<a name="l00231"></a>00231 <span class="comment">  Update the amplifier's motor information.</span>
<a name="l00232"></a>00232 <span class="comment"></span>
<a name="l00233"></a>00233 <span class="comment">  @param info A structure that contains the motor info to be downloaded.</span>
<a name="l00234"></a>00234 <span class="comment">  @return A pointer to an error object, or NULL on success</span>
<a name="l00235"></a>00235 <span class="comment">  */</span>
<a name="l00236"></a>00236 <span class="comment">/***************************************************************************/</span>
<a name="l00237"></a><a class="code" href="classAmp.html#z5_9">00237</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z5_9">Amp::SetMtrInfo</a>( <a class="code" href="structMtrInfo.html">MtrInfo</a> &amp;info )
<a name="l00238"></a>00238 {
<a name="l00239"></a>00239    <span class="comment">// Translate parameters into the proper units for upload.</span>
<a name="l00240"></a>00240    <a class="code" href="CML__Utils_8h.html#a7">int16</a> wiring, tSense, brake, encDir;
<a name="l00241"></a>00241    <a class="code" href="CML__Utils_8h.html#a9">int32</a> maxVel, bVel;
<a name="l00242"></a>00242 
<a name="l00243"></a>00243    maxVel  = <a class="code" href="classAmp.html#z15_5">VelUser2Mtr</a>( info.<a class="code" href="structMtrInfo.html#o9">velMax</a> );
<a name="l00244"></a>00244    bVel    = <a class="code" href="classAmp.html#z15_5">VelUser2Mtr</a>( info.<a class="code" href="structMtrInfo.html#o21">brakeVel</a> );
<a name="l00245"></a>00245 
<a name="l00246"></a>00246    wiring = (info.<a class="code" href="structMtrInfo.html#o13">mtrReverse</a> == <span class="keyword">true</span>);
<a name="l00247"></a>00247    encDir = (info.<a class="code" href="structMtrInfo.html#o14">encReverse</a> == <span class="keyword">true</span>);
<a name="l00248"></a>00248    brake  = (info.<a class="code" href="structMtrInfo.html#o18">hasBrake</a>   == <span class="keyword">false</span>);
<a name="l00249"></a>00249    tSense = (info.<a class="code" href="structMtrInfo.html#o12">tempSensor</a> == <span class="keyword">true</span>);
<a name="l00250"></a>00250 
<a name="l00251"></a>00251    <span class="comment">// Upload these parameters to the motor</span>
<a name="l00252"></a>00252    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a14">DnldString</a>( OBJID_MOTOR_MODEL, 0, info.<a class="code" href="structMtrInfo.html#o2">model</a>   );
<a name="l00253"></a>00253    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a14">DnldString</a>( OBJID_MOTOR_MFG,   0, info.<a class="code" href="structMtrInfo.html#o1">mfgName</a> );
<a name="l00254"></a>00254    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a10">Dnld16</a>( OBJID_MOTOR_INFO,  1, info.<a class="code" href="structMtrInfo.html#o0">type</a> );
<a name="l00255"></a>00255    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a10">Dnld16</a>( OBJID_MOTOR_INFO,  2, info.<a class="code" href="structMtrInfo.html#o3">poles</a> );
<a name="l00256"></a>00256    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a10">Dnld16</a>( OBJID_MOTOR_INFO,  3, wiring   );
<a name="l00257"></a>00257    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a10">Dnld16</a>( OBJID_MOTOR_INFO,  4, info.<a class="code" href="structMtrInfo.html#o15">hallType</a> );
<a name="l00258"></a>00258    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a10">Dnld16</a>( OBJID_MOTOR_INFO,  5, info.<a class="code" href="structMtrInfo.html#o16">hallWiring</a> );
<a name="l00259"></a>00259    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a10">Dnld16</a>( OBJID_MOTOR_INFO,  6, info.<a class="code" href="structMtrInfo.html#o17">hallOffset</a> );
<a name="l00260"></a>00260    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a10">Dnld16</a>( OBJID_MOTOR_INFO,  7, info.<a class="code" href="structMtrInfo.html#o4">resistance</a> );
<a name="l00261"></a>00261    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a10">Dnld16</a>( OBJID_MOTOR_INFO,  8, info.<a class="code" href="structMtrInfo.html#o5">inductance</a> );