ampfile_8cpp-source.html

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<a name="l00103"></a>00103    <a class="code" href="CML__Utils_8h.html#a9">int32</a> i32;
<a name="l00104"></a>00104 
<a name="l00105"></a>00105    <span class="comment">// Read file version number</span>
<a name="l00106"></a>00106    line++;
<a name="l00107"></a>00107    ReadLine( fp, buff, MAX_LINE_LEN );
<a name="l00108"></a>00108    SplitLine( buff, seg, MAX_LINE_SEGS );
<a name="l00109"></a>00109    err = StrToInt16( seg[0], fileRev, 10 );
<a name="l00110"></a>00110    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00111"></a>00111 
<a name="l00112"></a>00112    <span class="keywordflow">if</span>( fileRev &lt; 9 ) 
<a name="l00113"></a>00113       <span class="keywordflow">return</span> &amp;<a class="code" href="classAmpFileError.html#s1">AmpFileError::tooOld</a>;
<a name="l00114"></a>00114 
<a name="l00115"></a>00115    line++;
<a name="l00116"></a>00116    ReadLine( fp, buff, MAX_LINE_LEN );
<a name="l00117"></a>00117    SplitLine( buff, seg, MAX_LINE_SEGS );
<a name="l00118"></a>00118 
<a name="l00119"></a>00119    <span class="keywordflow">if</span>(fileRev &lt; 12){
<a name="l00120"></a>00120       <span class="comment">// Read the motor family info</span>
<a name="l00121"></a>00121       err = StrToInt16( seg[0], mtrFamily, 10 );
<a name="l00122"></a>00122       <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00123"></a>00123    }
<a name="l00124"></a>00124 
<a name="l00125"></a>00125    <span class="keywordflow">if</span>(fileRev == 12){
<a name="l00126"></a>00126       <span class="comment">// Read the motor family info</span>
<a name="l00127"></a>00127       SplitLine( seg[2], seg, 4, <span class="charliteral">':'</span> );
<a name="l00128"></a>00128       err = StrToInt16( seg[0], mtrFamily, 16 );
<a name="l00129"></a>00129       <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00130"></a>00130    }
<a name="l00131"></a>00131 
<a name="l00132"></a>00132    <span class="keywordflow">if</span> (fileRev &gt;= 13)
<a name="l00133"></a>00133    {
<a name="l00134"></a>00134       numOfSegs = 4;
<a name="l00135"></a>00135       segIndex = 3;
<a name="l00136"></a>00136 
<a name="l00137"></a>00137       <span class="comment">// read the number of axis</span>
<a name="l00138"></a>00138       err = StrToInt16( seg[0], i16, 10 );
<a name="l00139"></a>00139       <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00140"></a>00140 
<a name="l00141"></a>00141       <span class="comment">// only capable of 1 axis</span>
<a name="l00142"></a>00142       <span class="keywordflow">if</span>( i16 &gt; 1 ) 
<a name="l00143"></a>00143     <span class="keywordflow">return</span> &amp;<a class="code" href="classAmpFileError.html#s5">AmpFileError::axis</a>;
<a name="l00144"></a>00144 
<a name="l00145"></a>00145       <span class="comment">// Read the motor family info</span>
<a name="l00146"></a>00146       line++;
<a name="l00147"></a>00147       ReadLine( fp, buff, MAX_LINE_LEN );
<a name="l00148"></a>00148       SplitLine( buff, seg, MAX_LINE_SEGS );
<a name="l00149"></a>00149       SplitLine( seg[3], seg, 4, <span class="charliteral">':'</span> );
<a name="l00150"></a>00150       err = StrToInt16( seg[0], mtrFamily, 16 );
<a name="l00151"></a>00151       <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00152"></a>00152    }
<a name="l00153"></a>00153 
<a name="l00154"></a>00154    <span class="keywordflow">if</span>( mtrFamily &lt; 0 || mtrFamily &gt; 2 ) 
<a name="l00155"></a>00155       <span class="keywordflow">return</span> &amp;<a class="code" href="classAmpFileError.html#s0">AmpFileError::format</a>;
<a name="l00156"></a>00156 
<a name="l00157"></a>00157    cfg.<a class="code" href="structAmpConfig.html#o4">CME_Config</a>[4] = (char)(mtrFamily&gt;&gt;8);
<a name="l00158"></a>00158    cfg.<a class="code" href="structAmpConfig.html#o4">CME_Config</a>[5] = (char)(mtrFamily);
<a name="l00159"></a>00159 
<a name="l00160"></a>00160    <span class="comment">// Read all parameters</span>
<a name="l00161"></a>00161    <span class="keywordflow">while</span>( !feof(fp) &amp;&amp; !err )
<a name="l00162"></a>00162    {
<a name="l00163"></a>00163       <a class="code" href="CML__Utils_8h.html#a7">int16</a> param;
<a name="l00164"></a>00164 
<a name="l00165"></a>00165       line++;
<a name="l00166"></a>00166       ReadLine( fp, buff, MAX_LINE_LEN );
<a name="l00167"></a>00167       ct = SplitLine( buff, seg, MAX_LINE_SEGS );
<a name="l00168"></a>00168       <span class="keywordflow">if</span>( ct == 0 )
<a name="l00169"></a>00169     <span class="keywordflow">continue</span>;
<a name="l00170"></a>00170 
<a name="l00171"></a>00171       <span class="keywordflow">if</span>( ct != numOfSegs )
<a name="l00172"></a>00172     err = &amp;<a class="code" href="classAmpFileError.html#s0">AmpFileError::format</a>;
<a name="l00173"></a>00173       <span class="keywordflow">else</span>
<a name="l00174"></a>00174     err = StrToInt16( seg[0], param, 16 );
<a name="l00175"></a>00175 
<a name="l00176"></a>00176       <span class="keywordflow">if</span>( err ) <span class="keywordflow">break</span>;
<a name="l00177"></a>00177 
<a name="l00178"></a>00178       <span class="keywordflow">switch</span>( param )
<a name="l00179"></a>00179       {
<a name="l00180"></a>00180     <span class="keywordflow">case</span> 0x000: err = StrToInt16( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o16">cLoop</a>.<a class="code" href="structCrntLoopConfig.html#o0">kp</a> ); <span class="keywordflow">break</span>;
<a name="l00181"></a>00181     <span class="keywordflow">case</span> 0x001: err = StrToInt16( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o16">cLoop</a>.<a class="code" href="structCrntLoopConfig.html#o1">ki</a> ); <span class="keywordflow">break</span>;
<a name="l00182"></a>00182     <span class="keywordflow">case</span> 0x002: err = StrToInt16( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o7">progCrnt</a> ); <span class="keywordflow">break</span>;
<a name="l00183"></a>00183 
<a name="l00184"></a>00184     <span class="keywordflow">case</span> 0x019: err = StrToInt32( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o23">ref</a>.<a class="code" href="structAnalogRefConfig.html#o3">scale</a>  ); <span class="keywordflow">break</span>;
<a name="l00185"></a>00185     <span class="keywordflow">case</span> 0x01a: err = StrToInt16( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o23">ref</a>.<a class="code" href="structAnalogRefConfig.html#o1">offset</a> ); <span class="keywordflow">break</span>;
<a name="l00186"></a>00186 
<a name="l00187"></a>00187     <span class="keywordflow">case</span> 0x021: err = StrToInt16( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o16">cLoop</a>.<a class="code" href="structCrntLoopConfig.html#o3">peakLim</a> ); <span class="keywordflow">break</span>;
<a name="l00188"></a>00188     <span class="keywordflow">case</span> 0x022: err = StrToInt16( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o16">cLoop</a>.<a class="code" href="structCrntLoopConfig.html#o4">contLim</a> ); <span class="keywordflow">break</span>;
<a name="l00189"></a>00189     <span class="keywordflow">case</span> 0x023: err = StrToInt16( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o16">cLoop</a>.<a class="code" href="structCrntLoopConfig.html#o5">peakTime</a> ); <span class="keywordflow">break</span>;
<a name="l00190"></a>00190 
<a name="l00191"></a>00191     <span class="keywordflow">case</span> 0x024:
<a name="l00192"></a>00192        err = StrToInt16( seg[segIndex], i16 );
<a name="l00193"></a>00193        cfg.<a class="code" href="structAmpConfig.html#o1">controlMode</a> = (<a class="code" href="CML__AmpDef_8h.html#a397">AMP_MODE</a>)(i16&lt;&lt;8);
<a name="l00194"></a>00194 
<a name="l00195"></a>00195        <span class="comment">// The ccx file only holds the amplifier control method.</span>
<a name="l00196"></a>00196        <span class="comment">// Build a proper amp mode out of this if it's one of the</span>
<a name="l00197"></a>00197        <span class="comment">// CANopen control methods.</span>
<a name="l00198"></a>00198        <span class="keywordflow">if</span>( (cfg.<a class="code" href="structAmpConfig.html#o1">controlMode</a>==<a class="code" href="CML__AmpDef_8h.html#a397a198">AMPMODE_CAN_SERVO</a>) || 
<a name="l00199"></a>00199         (cfg.<a class="code" href="structAmpConfig.html#o1">controlMode</a>==<a class="code" href="CML__AmpDef_8h.html#a397a199">AMPMODE_CAN_USTEP</a>) )
<a name="l00200"></a>00200           cfg.<a class="code" href="structAmpConfig.html#o1">controlMode</a> = (<a class="code" href="CML__AmpDef_8h.html#a397">AMP_MODE</a>)(cfg.<a class="code" href="structAmpConfig.html#o1">controlMode</a> | <a class="code" href="CML__AmpDef_8h.html#a397a193">AMPMODE_CAN_PROFILE</a>);
<a name="l00201"></a>00201        <span class="keywordflow">break</span>;
<a name="l00202"></a>00202 
<a name="l00203"></a>00203     <span class="keywordflow">case</span> 0x026: err = StrToInt16( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o23">ref</a>.<a class="code" href="structAnalogRefConfig.html#o2">deadband</a> ); <span class="keywordflow">break</span>;
<a name="l00204"></a>00204     <span class="keywordflow">case</span> 0x027: err = StrToInt16( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o15">vLoop</a>.<a class="code" href="structVelLoopConfig.html#o0">kp</a> ); <span class="keywordflow">break</span>;
<a name="l00205"></a>00205     <span class="keywordflow">case</span> 0x028: err = StrToInt16( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o15">vLoop</a>.<a class="code" href="structVelLoopConfig.html#o1">ki</a> ); <span class="keywordflow">break</span>;
<a name="l00206"></a>00206     <span class="keywordflow">case</span> 0x02e: err = StrToInt16( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o15">vLoop</a>.<a class="code" href="structVelLoopConfig.html#o2">kaff</a> ); <span class="keywordflow">break</span>;
<a name="l00207"></a>00207     <span class="keywordflow">case</span> 0x02f: <a class="code" href="AmpFile_8cpp.html#a5">StrToMtrVel</a>( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o6">progVel</a> ); <span class="keywordflow">break</span>;
<a name="l00208"></a>00208     <span class="keywordflow">case</span> 0x030: err = StrToInt16( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o14">pLoop</a>.<a class="code" href="structPosLoopConfig.html#o0">kp</a>    ); <span class="keywordflow">break</span>;
<a name="l00209"></a>00209     <span class="keywordflow">case</span> 0x031: err = StrToInt16( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o15">vLoop</a>.<a class="code" href="structVelLoopConfig.html#o3">shift</a> ); <span class="keywordflow">break</span>;
<a name="l00210"></a>00210     <span class="keywordflow">case</span> 0x033: err = StrToInt16( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o14">pLoop</a>.<a class="code" href="structPosLoopConfig.html#o1">kvff</a>  ); <span class="keywordflow">break</span>;
<a name="l00211"></a>00211     <span class="keywordflow">case</span> 0x034: err = StrToInt16( seg[segIndex], cfg.<a class="code" href="structAmpConfig.html#o14">pLoop</a>.<a class="code" href="structPosLoopConfig.html#o2">kaff</a>  ); <span class="keywordflow">break</span>;
<a name="l00212"></a>00212 
<a name="l00213"></a>00213     <span class="comment">// These three parameters use non-standard units in the amplifier</span>