/******************************************************************************
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*
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* (C) Copyright WDI 2010
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*
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******************************************************************************
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*
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* FILE: llc.h
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*
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* PROJECT: AFT Sensor
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*
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* SUBPROJECT: .
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*
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* Description: LLC interface
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*
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******************************************************************************
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*
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* Change Activity
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* Defect Date Developer Description
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* Number DD/MM/YYYY Name
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* ======= ========== ================ =======================================
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* 28/01/2011 Chris O. Initial version
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*
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******************************************************************************/
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#pragma once
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#ifdef __cplusplus
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#include "epp.h"
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#include "logger.h"
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// number of pulses per mm in LLC encoder
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#define ENC_PULSE_PER_MM 10000
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// max number of objectives
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#define MAX_LLC_OBJ_NUM 8
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// LLC error codes
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enum LlcErrCode
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{
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LlcErrOK = 0, // 0
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// LLC not initilaized error
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LlcErrNotInitialized, // 1
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// LLC bad argument error
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LlcErrArgRange, // 2
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// communication errors
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LlcErrStatus, // 3
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LlcErrSendFailure, // 4
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LlcErrSensorCom, // 5
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LlcErrCmndSyntax, // 6
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LlcErrRecvLen, // 7
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LlcErrRecvSyntax, // 8
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LlcErrWhistleEC, // 9
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// number of objectives error
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LlcErrObjectiveNum, // 10
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// offset file error
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LlcErrOffsetFile, // 11
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// homing failure error
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LlcErrHoming, // 12
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// move to target error
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LlcErrTargetPos, // 13
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// movement timeout
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LlcErrTimeout, // 14
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// hardware error
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LlcErrRecoveryFailed, // 15
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LlcErrLimitSwitch, // 16
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LlcErrMotorDisabled, // 17
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// hardware failure
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LlcErrPeakCurrExceeded, // 18
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LlcErrInhibit, // 19
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LlcErrSpeedTracking, // 20
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LlcErrPositionTracking, // 21
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LlcErrUnderVoltage, // 22
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LlcErrOverVoltage, // 23
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LlcErrShortCircuit, // 24
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LlcErrOverheating, // 25
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LlcErrElectricalZero, // 26
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LlcErrSpeedLimit, // 27
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LlcErrMotorStuck, // 28
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LlcErrPositionlimit, // 29
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LlcErrStartMotor, // 30
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// MFC firmware failure
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LlcErrStackOverflow, // 31
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LlcErrCpuException // 32
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};
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// SR - status register flags (received with "SR;" command)
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#define LLC_SR_DR_FLAG 0x00000001 // drive error (the same as in MF register shown below) - is ON when any of four shown below present
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#define LLC_SR_DRUV_FLAG 0x00000003 // under voltage (the same as in MF register shown below)
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#define LLC_SR DROV_FLAG 0x00000005 // over voltage (the same as in MF register shown below)
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#define LLC_SR_DRSC_FLAG 0x0000000B // short circuit (the same as in MF register shown below)
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#define LLC_SR_DROH_FLAG 0x0000000D // overheating (the same as in MF register shown below)
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#define LLC_SR_MO_FLAG 0x00000010 // motor enable / disable status - can be obtain with "MO;" command too
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#define LLC_SR_MF_FLAG 0x00000040 // motor failure - can be obtain with "MF;" command too
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#define LLC_SR_MS_FLAG 0x0000C000 // motion status [00 = In Position; 01 = Off Position; 10 = In motion] - can be obtained with "MS;" command too
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#define LLC_SR_PR_FLAG 0x00001000 // program running
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#define LLC_SR_SL_FLAG 0x10000000 // limit switches
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// MF - motor failure register flags (received with "MF;" command)
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#define LLC_MF_PC_FLAG 0x00000008 // peak current exceeded
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#define LLC_MF_IN_FLAG 0x00000010 // inhibit
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#define LLC_MF_ST_FLAG 0x00000080 // speed tracking error
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#define LLC_MF_PS_FLAG 0x00000100 // position tracking error
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#define LLC_MF_DR_FLAG 0x00001000 // drive error (the same as in SR register shown above) - is ON when any of four shown below present
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#define LLC_MF_DRUV_FLAG 0x00003000 // under voltage (the same as in SR register shown above)
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#define LLC_MF_DROV_FLAG 0x00005000 // over voltage (the same as in SR register shown above)
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#define LLC_MF_DRSC_FLAG 0x0000B000 // short circuit (the same as in SR register shown above)
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#define LLC_MF_DROH_FLAG 0x0000D000 // overheating (the same as in SR register shown above)
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#define LLC_MF_EZ_FLAG 0x00010000 // electrical zero failure
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#define LLC_MF_SL_FLAG 0x00020000 // speed limit failure
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#define LLC_MF_SO_FLAG 0x00040000 // stack overflow
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#define LLC_MF_CE_FLAG 0x00080000 // CPU exception
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#define LLC_MF_MS_FLAG 0x00200000 // motor stuck
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#define LLC_MF_PL_FLAG 0x00400000 // position limit exceeded
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#define LLC_MF_SM_FLAG 0x20000000 // motor start failure
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// LLC class
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class CLlc
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{
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public:
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// constructor & destructor
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CLlc(CLogger *pLogger = NULL)
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{
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// initialize
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m_pLogger = pLogger;
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m_bIsLlcInit = false;
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m_iObjNum = 0;
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// m_iObjPitch = 0;
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m_cOffsetFilePath[0] = '\0';
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m_cForcerSerNum[0] = '\0';
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for (int i = 0; i < MAX_LLC_OBJ_NUM; i++)
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{
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m_fObjPitch[i] = 0.0f;
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}
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}
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~CLlc() {}
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private:
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CLogger *m_pLogger; // pointer to logger object
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bool m_bIsLlcInit; // is LLC initialized flag
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bool m_bIsHomeDetImpl; // is ET[5] home detection implemented flag
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char m_cForcerSerNum[16]; // forcer serial number - ET[4]
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char m_cOffsetFilePath[MAX_PATH]; // objective movement offsets file name
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int m_iObjNum; // number of available objectives
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// int m_iObjPitch; // distance between objectives
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float m_fObjPitch[MAX_LLC_OBJ_NUM]; // distance between objectives
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public:
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bool initializeLlc(char *pOffsetFileDir, int *piErrCode);
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void setObjectiveNum(int iObjNum);
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int getObjectiveNum();
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void setObjectivePitch(float fObjPitch[MAX_LLC_OBJ_NUM]);
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void getObjectivePitch(float fObjPitch[MAX_LLC_OBJ_NUM]);
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int getLlcForcerSerNum();
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int sendLlc(char *toSend, char *toRecv);
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bool getLlcStatus(int *piErrCode, const char **ppErrMsg, int *piStatReg, int *piMtrFailureReg);
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bool recoverLlc(int *piErrCode);
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bool recoverLlcSensorConnection(int *piErrCode);
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bool recoverLlcHdwr(int *piErrCode);
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bool resetLlcController(int *piErrCode);
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bool homeLlc(bool bWaitForEnd, int *piErrCode);
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bool isLlcInHomePos(int *piErrCode);
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bool saveLlcObjectivePositionOffset(int iObjectiveNumber, int iOffset);
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bool getLlcObjectivePositionOffset(int iObjectiveNumber, int *piPositionOffset);
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bool moveLlcToObjective(int iObjectiveNumber, bool bWaitForEnd, int *piErrCode);
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bool moveLlcToPosition(int iPosition, bool bWaitForEnd, int *piErrCode);
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bool moveLLcRelativeDistance(int iDistance, bool bWaitForEnd, int *piErrCode);
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bool isLlcInTargetPosition(int *piErrCode);
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bool enableLlcMotor(int *piErrCode);
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bool disableLlcMotor(int *piErrCode);
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bool stopLlcMotion(int *piErrCode);
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bool setLlcSpeed(int iLlcSpeed, int *piErrCode);
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bool getLlcSpeed(int *piLlcSpeed, int *piErrCode);
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bool setLlcAcceleration(int iLlcAcceleration, int *piErrCode);
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bool getLlcAcceleration(int *piLlcAcceleration, int *piErrCode);
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bool setLlcDeceleration(int iLlcDeceleration, int *piErrCode);
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bool getLlcDeceleration(int *piLlcDeceleration, int *piErrCode);
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bool setLlcSmoothFactor(int iLlcSmoothFactor, int *piErrCode);
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bool getLlcSmoothFactor(int *piLlcSmoothFactor, int *piErrCode);
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bool getLlcVelocity(float *pfLlcVelocity, int *piErrCode);
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bool getLlcPosition(float *pfLlcPosition, int *piErrCode);
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bool getLlcMotorCurrent(float *pfLlcMotorCurrent, int *piErrCode);
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inline void setLlcLogger(CLogger *pLogger) {m_pLogger = pLogger;}
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private:
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bool createLlcOffsetFile(char *pOffsetFileDir);
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void saveToLog(const char *pLogMsg, CLogger::LogLevels iLogLevel);
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void saveToLog2(CLogger::LogLevels iLogLevel, char *pFormat, ...);
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// logging macros
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#define LLCENTERFUN(funname) saveToLog2(CLogger::LogLow, "%s%s", funname, " - entered\n");
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#define LLCEXITFUN(funname) saveToLog2(CLogger::LogLow, "%s%s", funname, " - exited\n");
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#define LLCLOGMSG(pLogMsg, LogLev) saveToLog(pLogMsg, LogLev);
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#define LLCLOGMSG2(LogLev, format, ...) saveToLog2(LogLev, format, __VA_ARGS__);
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};
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#endif
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