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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: CML_Settings.h 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_000001.html">inc</a></div><h1>CML_Settings.h</h1><a href="CML__Settings_8h.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 provides some configuration options used to customize </span><a name="l00014"></a>00014 <span class="comment">the Copley Motion Libraries.</span><a name="l00015"></a>00015 <span class="comment">*/</span><a name="l00016"></a>00016 <a name="l00017"></a>00017 <span class="preprocessor">#ifndef _DEF_INC_CML_SETTINGS</span><a name="l00018"></a>00018 <span class="preprocessor"></span><span class="preprocessor">#define _DEF_INC_CML_SETTINGS</span><a name="l00019"></a>00019 <span class="preprocessor"></span><span class="comment"></span><a name="l00020"></a>00020 <span class="comment">/// Library namespace. This gives the name of the C++ namespace </span><a name="l00021"></a>00021 <span class="comment">/// which will be used to contain the library. If no namespace</span><a name="l00022"></a>00022 <span class="comment">/// is desired, just comment out the #define</span><a name="l00023"></a><a class="code" href="CML__Settings_8h.html#a0">00023</a> <span class="comment"></span><span class="preprocessor">#define CML_NAMESPACE CML</span><a name="l00024"></a>00024 <span class="preprocessor"></span><span class="comment"></span><a name="l00025"></a>00025 <span class="comment">/// Size of the hash table used to associate CAN messages with</span><a name="l00026"></a>00026 <span class="comment">/// their receivers. Larger tables give faster access, but</span><a name="l00027"></a>00027 <span class="comment">/// use more memory.</span><a name="l00028"></a>00028 <span class="comment">///</span><a name="l00029"></a>00029 <span class="comment">/// The following values have been selected as good options</span><a name="l00030"></a>00030 <span class="comment">/// for a typical CANopen system: 2053, 1483, 1097, 683, 409.</span><a name="l00031"></a><a class="code" href="CML__Settings_8h.html#a1">00031</a> <span class="comment"></span><span class="preprocessor">#define CML_HASH_SIZE 1483</span><a name="l00032"></a>00032 <span class="preprocessor"></span><span class="comment"></span><a name="l00033"></a>00033 <span class="comment">/// Enable file access. The libraries have some features</span><a name="l00034"></a>00034 <span class="comment">/// which require the standard C library functions to open,</span><a name="l00035"></a>00035 <span class="comment">/// read, and write files.</span><a name="l00036"></a>00036 <span class="comment">/// Some embedded systems do not support a file system, so</span><a name="l00037"></a>00037 <span class="comment">/// these features may be disabled by commenting out the</span><a name="l00038"></a>00038 <span class="comment">/// #define. For systems which do support the standard C</span><a name="l00039"></a>00039 <span class="comment">/// file access functions, this should be enabled.</span><a name="l00040"></a><a class="code" href="CML__Settings_8h.html#a2">00040</a> <span class="comment"></span><span class="preprocessor">#define CML_FILE_ACCESS_OK</span><a name="l00041"></a>00041 <span class="preprocessor"></span><span class="comment"></span><a name="l00042"></a>00042 <span class="comment">/// Allow use of floating point math. If this is defined, </span><a name="l00043"></a>00043 <span class="comment">/// double precision floating point math will be used in </span><a name="l00044"></a>00044 <span class="comment">/// some areas of the libraries. These areas include </span><a name="l00045"></a>00045 <span class="comment">/// trajectory generation and unit conversions. If not</span><a name="l00046"></a>00046 <span class="comment">/// defined, then no floating point math will be used, but</span><a name="l00047"></a>00047 <span class="comment">/// some features will be disabled.</span><a name="l00048"></a><a class="code" href="CML__Settings_8h.html#a3">00048</a> <span class="comment"></span><span class="preprocessor">#define CML_ALLOW_FLOATING_POINT</span><a name="l00049"></a>00049 <span class="preprocessor"></span><span class="comment"></span><a name="l00050"></a>00050 <span class="comment">/// Enable user units. If this is defined, then all</span><a name="l00051"></a>00051 <span class="comment">/// position, velocity, acceleration & jerk values will</span><a name="l00052"></a>00052 <span class="comment">/// be specified in double precision floating point, and</span><a name="l00053"></a>00053 <span class="comment">/// the units used for these values will be programmable.</span><a name="l00054"></a>00054 <span class="comment">/// If not defined, then these parameters will all be</span><a name="l00055"></a>00055 <span class="comment">/// specified as 32-bit integers using internal amplifier</span><a name="l00056"></a>00056 <span class="comment">/// parameters. This is less convenient, but can be much</span><a name="l00057"></a>00057 <span class="comment">/// faster for systems without a floating point processor.</span><a name="l00058"></a><a class="code" href="CML__Settings_8h.html#a4">00058</a> <span class="comment"></span><span class="preprocessor">#define CML_ENABLE_USER_UNITS</span><a name="l00059"></a>00059 <span class="preprocessor"></span><span class="comment"></span><a name="l00060"></a>00060 <span class="comment">/// Enable debug assertions. If this is defined, then some</span><a name="l00061"></a>00061 <span class="comment">/// debug code will be added to the library which will use</span><a name="l00062"></a>00062 <span class="comment">/// the standard C assert() function to test for some </span><a name="l00063"></a>00063 <span class="comment">/// programming errors. Commenting this out will remove the</span><a name="l00064"></a>00064 <span class="comment">/// checks.</span><a name="l00065"></a>00065 <span class="comment">/// The standard C header file assert.h must be available </span><a name="l00066"></a>00066 <span class="comment">/// if this feature is used.</span><a name="l00067"></a><a class="code" href="CML__Settings_8h.html#a5">00067</a> <span class="comment"></span><span class="preprocessor">#define CML_DEBUG_ASSERT</span><a name="l00068"></a>00068 <span class="preprocessor"></span><span class="comment"></span><a name="l00069"></a>00069 <span class="comment">/// This defines the maximum number of amplifiers that may be </span><a name="l00070"></a>00070 <span class="comment">/// controlled by a single linkage object. The absolute maximum </span><a name="l00071"></a>00071 <span class="comment">/// value that this can accept is 32, however it can be lowered</span><a name="l00072"></a>00072 <span class="comment">/// to reduce the memory requirements of the library.</span><a name="l00073"></a>00073 <span class="comment">/// This setting also limits the number of independent axes/link.</span><a name="l00074"></a>00074 <span class="comment">/// Normally, the number of amps & axes is the same, but the </span><a name="l00075"></a>00075 <span class="comment">/// Linkage object may be extended for conditions where this isn't</span><a name="l00076"></a>00076 <span class="comment">/// true. In any case, there can be no more then this many axes/link.</span><a name="l00077"></a><a class="code" href="CML__Settings_8h.html#a6">00077</a> <span class="comment"></span><span class="preprocessor">#define CML_MAX_AMPS_PER_LINK 8</span><a name="l00078"></a>00078 <span class="preprocessor"></span><span class="comment"></span><a name="l00079"></a>00079 <span class="comment">/// This parameter controls the size of the trajectory buffer used by</span><a name="l00080"></a>00080 <span class="comment">/// the linkage object. The linkage object uses this buffer when </span><a name="l00081"></a>00081 <span class="comment">/// streaming multi-axis PVT profiles. If multi-axis PVT profiles are</span><a name="l00082"></a>00082 <span class="comment">/// not required then setting may be commented out. Doing so will </span><a name="l00083"></a>00083 <span class="comment">/// significantly reduce the size of the linkage object. If multi-axis</span><a name="l00084"></a>00084 <span class="comment">/// PVTs are required, set this to the length of the buffer. A value of</span><a name="l00085"></a>00085 <span class="comment">/// 50 is a reasonable choice.</span>⌨️ 快捷键说明
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