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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 File Reference</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 File Reference</h1><hr><a name="_details"></a><h2>Detailed Description</h2>This file provides some configuration options used to customize the Copley Motion Libraries. <p><p>Definition in file <a class="el" href="CML__Settings_8h-source.html">CML_Settings.h</a>.<p><p><a href="CML__Settings_8h-source.html">Go to the source code of this file.</a><table border="0" cellpadding="0" cellspacing="0"><tr><td></td></tr><tr><td colspan="2"><br><h2>Defines</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="CML__Settings_8h.html#a0">CML_NAMESPACE</a> CML</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Library namespace. <a href="#a0"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="CML__Settings_8h.html#a1">CML_HASH_SIZE</a> 1483</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Size of the hash table used to associate CAN messages with their receivers. <a href="#a1"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="CML__Settings_8h.html#a2">CML_FILE_ACCESS_OK</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Enable file access. <a href="#a2"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="CML__Settings_8h.html#a3">CML_ALLOW_FLOATING_POINT</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Allow use of floating point math. <a href="#a3"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="CML__Settings_8h.html#a4">CML_ENABLE_USER_UNITS</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Enable user units. <a href="#a4"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="CML__Settings_8h.html#a5">CML_DEBUG_ASSERT</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Enable debug assertions. <a href="#a5"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="CML__Settings_8h.html#a6">CML_MAX_AMPS_PER_LINK</a> 8</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">This defines the maximum number of amplifiers that may be controlled by a single linkage object. <a href="#a6"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="CML__Settings_8h.html#a7">CML_LINKAGE_TRJ_BUFFER_SIZE</a> 50</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">This parameter controls the size of the trajectory buffer used by the linkage object. <a href="#a7"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="CML__Settings_8h.html#a8">CML_ERROR_HASH_SIZE</a> 64</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Size of the hash table used by the Error::Lookup method. <a href="#a8"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="CML__Settings_8h.html#a9">CML_ERROR_MESSAGES</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">The CML::Error object includes a text message for each error type. <a href="#a9"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="CML__Settings_8h.html#a10">CML_ENABLE_IOMODULE_PDOS</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">This setting enables/disables the use of <a class="el" href="classPDO.html">PDO</a> objects within the <a class="el" href="classIOModule.html">IOModule</a> class. <a href="#a10"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="CML__Settings_8h.html#a11">CML_NAMESPACE_START</a>() namespace CML_NAMESPACE{</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Size of extra private data for the <a class="el" href="classSemaphore.html">Semaphore</a> object. <a href="#a11"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a12"></a><!-- doxytag: member="CML_Settings.h::CML_NAMESPACE_END" ref="a12" args="()" -->#define </td><td class="memItemRight" valign="bottom"><a class="el" href="CML__Settings_8h.html#a12">CML_NAMESPACE_END</a>() }</td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a13"></a><!-- doxytag: member="CML_Settings.h::CML_NAMESPACE_USE" ref="a13" args="()" -->#define </td><td class="memItemRight" valign="bottom"><a class="el" href="CML__Settings_8h.html#a13">CML_NAMESPACE_USE</a>() using namespace CML_NAMESPACE</td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a14"></a><!-- doxytag: member="CML_Settings.h::CML_ASSERT" ref="a14" args="(x)" -->#define </td><td class="memItemRight" valign="bottom"><a class="el" href="CML__Settings_8h.html#a14">CML_ASSERT</a>(x) assert(x)</td></tr></table><hr><h2>Define Documentation</h2><a class="anchor" name="a3"></a><!-- doxytag: member="CML_Settings.h::CML_ALLOW_FLOATING_POINT" ref="a3" args="" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">#define CML_ALLOW_FLOATING_POINT </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Allow use of floating point math. <p>If this is defined, double precision floating point math will be used in some areas of the libraries. These areas include trajectory generation and unit conversions. If not defined, then no floating point math will be used, but some features will be disabled. <p>Definition at line <a class="el" href="CML__Settings_8h-source.html#l00048">48</a> of file <a class="el" href="CML__Settings_8h-source.html">CML_Settings.h</a>. </td> </tr></table><a class="anchor" name="a5"></a><!-- doxytag: member="CML_Settings.h::CML_DEBUG_ASSERT" ref="a5" args="" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">#define CML_DEBUG_ASSERT </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Enable debug assertions. <p>If this is defined, then some debug code will be added to the library which will use the standard C assert() function to test for some programming errors. Commenting this out will remove the checks. The standard C header file assert.h must be available if this feature is used. <p>Definition at line <a class="el" href="CML__Settings_8h-source.html#l00067">67</a> of file <a class="el" href="CML__Settings_8h-source.html">CML_Settings.h</a>. </td> </tr></table><a class="anchor" name="a10"></a><!-- doxytag: member="CML_Settings.h::CML_ENABLE_IOMODULE_PDOS" ref="a10" args="" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">#define CML_ENABLE_IOMODULE_PDOS </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>This setting enables/disables the use of <a class="el" href="classPDO.html">PDO</a> objects within the <a class="el" href="classIOModule.html">IOModule</a> class. <p>The <a class="el" href="classIOModule.html">IOModule</a> class is used to access standard CANopen I/O modules on the network. Normally, these modules may be accessed using fast <a class="el" href="classPDO.html">PDO</a> transfers, however in very low memory embedded systems the extra RAM required to maintain the <a class="el" href="classPDO.html">PDO</a> objects may not be available. In such situations this setting may be commented out to reduce the memory footprint of the <a class="el" href="classIOModule.html">IOModule</a> class. <p>Definition at line <a class="el" href="CML__Settings_8h-source.html#l00108">108</a> of file <a class="el" href="CML__Settings_8h-source.html">CML_Settings.h</a>. </td> </tr></table><a class="anchor" name="a4"></a><!-- doxytag: member="CML_Settings.h::CML_ENABLE_USER_UNITS" ref="a4" args="" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">#define CML_ENABLE_USER_UNITS </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Enable user units. <p>If this is defined, then all position, velocity, acceleration & jerk values will be specified in double precision floating point, and the units used for these values will be programmable. If not defined, then these parameters will all be specified as 32-bit integers using internal amplifier parameters. This is less convenient, but can be much faster for systems without a floating point processor. <p>Definition at line <a class="el" href="CML__Settings_8h-source.html#l00058">58</a> of file <a class="el" href="CML__Settings_8h-source.html">CML_Settings.h</a>. </td> </tr></table><a class="anchor" name="a8"></a><!-- doxytag: member="CML_Settings.h::CML_ERROR_HASH_SIZE" ref="a8" args="" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">#define CML_ERROR_HASH_SIZE 64 </td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Size of the hash table used by the Error::Lookup method. <p>This may be set to zero to disable this feature. Most systems will not require this feature and can safely set this parameter to zero. <p>Definition at line <a class="el" href="CML__Settings_8h-source.html#l00092">92</a> of file <a class="el" href="CML__Settings_8h-source.html">CML_Settings.h</a>. </td> </tr></table><a class="anchor" name="a9"></a><!-- doxytag: member="CML_Settings.h::CML_ERROR_MESSAGES" ref="a9" args="" --><p><table class="mdTable" cellpadding="2" cellspacing="0">⌨️ 快捷键说明
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