DXL.H File Reference

AMSs Functions used in DAS Program. More...

Go to the source code of this file.

Data Structures
struct	DXL_par
	DXL structure. Structure for the serial communication with the AMS adapter. More...

Typedefs
typedef struct DXL_par	DXL_par
	DXL structure. Structure for the serial communication with the AMS adapter. More...

Functions
void	AMS_assadd (int w)
	Assign AMS address Procedure for assigment of the AMS address. More...
int	AMS_AzzeraCoord (int id, int mtr)
	Set to zero the number of steps on the selected motor Set to zero the number of steps on the selected motor. More...
int	AMS_chkbitsts (int id, int bitn)
	check bit status Procedure for the determination of the bit number status. More...
void	AMS_Default (int id)
	Set default values to AMS parameters Procedure for setting the default values of power.speed, stepping and slope to the selected AMS adapter. More...
int	AMS_dirfin (int id, int dira, int dirb)
	Set Final Directions . More...
int	AMS_Divisore (int id, unsigned long par1, unsigned long par2)
int	AMS_DoPos (int id, int dira, int dirb, unsigned long stepa, unsigned long stepb)
	Execute Positioning Execute Stepper positioning. Make all the control on the status of the selected motor. More...
int	AMS_firmrev (int id)
	Firmware Revision Number . More...
int	AMS_Home (int id, int mota, int motb)
	Home position for the selected motor the home position is reached with the standard parameters (1KHz, 2000 s/r) More...
int	AMS_HomeDefault (int id, int mota, int motb)
int	AMS_MotorOn_Off (int id, int mtr1, int mtr2)
	Motor ON-OFF. Switch On-Off the selected motor of the selected AMS. More...
int	AMS_Power (int id, int powa, int powb)
	Set Power for AMS Procedure for setting the user choosed power to the selected AMS adapter. More...
void	AMS_PWM (int id, int on, int off)
	set the on/off time on the PWM set the on/off time on the PWM. More...
void	AMS_PWM_OFF (int id)
void	AMS_PWM_Zero (int mod)
unsigned long	AMS_ReadStep (int id, int motor)
	read performed steps Procedure for the determination of the number of steps executed. More...
int	AMS_sendstep (int id, int dira, int dirb, unsigned long stepa, unsigned long stepb)
	Send steps Procedure for sending steps to the Stepper Motor. More...
int	AMS_Slope (int id, int slopea, int slopeb)
	Set slope to the Stepper motors Procedure for setting the slope fot the Stepper Motors. More...
int	AMS_Speed (int id, int speeda, int speedb)
	Set speed to the Stepper motors Procedure for setting speed for the Stepper Motors. More...
int	AMS_Step (int id, int stepa, int stepb)
	Set stepping for the Stepper motors Procedure for setting steps for the Stepper Motors. More...
int	AMS_TestHome (int id, int par1)
	verify if the home position has been reached More...
int	AMS_TestPos (int id, int motor)
	Test positioning status Procedure for testing the positioning status of the selected motor. More...
int	AMS_TestWork (int id, int par1)
	verify the if work position has been reached More...
int	AMS_TrackOff (int id, int amot, int bmot)
	tracking off Procedure for Stepper Motor tracking de-activation More...
int	AMS_TrackOn (int id, int adir, int bdir, unsigned long acount, unsigned long bcount)
	Activate tracking Procedure for Stepper Motor tracking activation. More...
int	AMS_wopto (int id, unsigned int w)
	write the value on the optoinsulated port write the value on the optoinsulated port. More...
int	DXL_Close (void)
	Close COM. More...
int	DXL_Open (int addr, int com, int baud)
	Open COM. More...
int	DXL_RxStr (char *rx, int *len)
	receive string from a serial port More...
void	DXL_TxStr (char *tx, int len)
	send string to a serial port More...

Detailed Description

AMSs Functions used in DAS Program.

Version

2.8.2

Author

Daniele Bortoli

Definition in file DXL.H.

Typedef Documentation

DXL_par

typedef struct DXL_par DXL_par

DXL structure. Structure for the serial communication with the AMS adapter.

DXL_par

Function Documentation

AMS_assadd()

void AMS_assadd

(

int

w

)

Assign AMS address
Procedure for assigment of the AMS address.

Parameters

w	= AMS ADDRESS

Definition at line 25 of file Dxl.c.

References DXL_par::add.

Referenced by AMS_AzzeraCoord(), AMS_chkbitsts(), AMS_chkbitsts_old(), AMS_Default(), AMS_dirfin(), AMS_Divisore(), AMS_DoPos(), AMS_ESlope(), AMS_firmrev(), AMS_Home(), AMS_HomeDefault(), AMS_MotorOn_Off(), AMS_Power(), AMS_Proxy(), AMS_PWM(), AMS_PWM_OFF(), AMS_ReadAD(), AMS_ReadStep(), AMS_sendstep(), AMS_SetPolarity(), AMS_Slope(), AMS_Speed(), AMS_Step(), AMS_TestHome(), AMS_TestPos(), AMS_TestWork(), AMS_TrackOff(), AMS_TrackOn(), and AMS_wopto().

{
    DXL.add = w;
}

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AMS_AzzeraCoord()

int AMS_AzzeraCoord	(	int	id,
		int	mtr
	)

Set to zero the number of steps on the selected motor
Set to zero the number of steps on the selected motor.

Parameters

id	= AMS ADDRESS
mtr	= 0 –> A Motor, = 1 –> B Motor

Returns

Definition at line 439 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by DB_ToolsKeyB_CB(), HomeAzimFast(), HomeFiltersFast(), HomeGratingFast(), HomeMirror(), HomeNDFiltersFast(), HomeZenithFast(), and Task_HomeGrat().

{
    int er, d;
    char buf[40];

    //Assign Address
    AMS_assadd(id);

    sprintf(DXL.buftx, "3%02X", mtr);
    DXL_TxStr(DXL.buftx,3);
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);    
    
    return er;

}

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AMS_chkbitsts()

int AMS_chkbitsts	(	int	id,
		int	bitn
	)

check bit status
Procedure for the determination of the bit number status.

Parameters

id	= AMS ADDRESS
bitn	BIT NUMBER –> 0 = LSB, 7 = MSB

Returns

sts: BIT STATUS –> sts = 0 –> bitn = 0, sts = 1 –> bitn = 1

Definition at line 192 of file Dxl.c.

References AMS_assadd(), DXL_par::bufrx, DXL_par::buftx, DXL_HexBin(), DXL_RxStr(), DXL_TxStr(), Message(), and STS0LEN.

Referenced by HomeAzimFast(), HomeFiltersFast(), HomeNDFiltersFast(), HomeTrack(), HomeZenithFast(), ReadInputCB(), Task_AMSH(), and Task_HomeGrat().

{


    int sts = 2;
//  char    str[80], buf[80], *s;
    int d, er; 
    unsigned long stbyte = 0;
    unsigned char a;
    
//  buf[0] = 0;
//  buf[1] = 0;
    //Assign Address
    AMS_assadd(id);

    //Read AMS Input
//  delay (70);
    sprintf(DXL.buftx, "/");
    DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
    d = STS0LEN;
//  delay (70);
    er = DXL_RxStr(DXL.bufrx, &d);
//  er = DXL_RxStr(buf, &d);

    if(er) Message("Serial Error!", er);
    else
    {
        a = DXL_HexBin(DXL.bufrx);

//      sprintf(buf, "%d", a);
//      MObjectSetText(CONFP.lblStatus, buf);
//      if (a = 100)
//          er = DXL_RxStr(buf, &d);
//          a = DXL_HexBin(buf);


    
        switch (bitn)
        {
            case 0:
                sts = (a >> 0) & 1;
                break;
            case 1:
                sts = (a >> 1) & 1;
                break;
            case 2:
                sts = (a >> 2) & 1;
                break;
            case 3:
                sts = (a >> 3) & 1;
                break;
            case 4:
                sts = (a >> 4) & 1;
                break;
            case 5:
                sts = (a >> 5) & 1;
                break;
            case 6:
                sts = (a >> 6) & 1;
                break;
            case 7:
                sts = (a >> 7) & 1;
                break;
        
        
        
        
        }
        
        
        
        
//      sprintf(buf, "A Proxy, Home = %d, Work = %d\nB Proxy, Home = %d, Work = %d\nAll bits = %02XH, %d%d%d%d%d%d%d%d bin",
//              (a >> 3) & 1, (a >> 2) & 1, (a >> 1) & 1, a & 1, a,
//              (a >> 7) & 1, (a >> 6) & 1, (a >> 5) & 1, (a >> 4) & 1,(a >> 3) & 1, (a >> 2) & 1, (a >> 1) & 1, a & 1, a & 0);
//      Message(buf, er);

  }

    
    
    
//  sprintf(str,"0x%s",buf);
//  sprintf(str,"0x%s",DXL.bufrx);
//  stbyte = strtol(str, &s, 16);   
/*
    switch (bn)
    {
        case 0:
            sts = stbyte & 1;
            sts = sts >> bn;
            break;
        case 1:
            sts = stbyte & 2;
            sts = sts >> bn;
            break;
        case 2:
            sts = stbyte & 4;
            sts = sts >> bn;
            break;
        case 3:
            sts = stbyte & 8;
            sts = sts >> bn;
            break;
        case 4:
            sts = stbyte & 16;
            sts = sts >> bn;
            break;
        case 5:
            sts = stbyte & 32;
            sts = sts >> bn;
            break;
        case 6:
            sts = stbyte & 64;
            sts = sts >> bn;
            break;
        case 7:
            sts = stbyte & 128;
            sts = sts >> bn;
            break;
    }
    
    if (sts == 2)
        return 2;
    else

*/
        return sts;

}

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AMS_Default()

void AMS_Default

(

int

id

)

Set default values to AMS parameters
Procedure for setting the default values of power.speed, stepping and slope to the selected AMS adapter.

Definition at line 174 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_RxStr(), and DXL_TxStr().

Referenced by DB_Home_CB(), E_Home_SM4(), E_Home_SM6(), HomeAzimFast(), HomeFiltersFast(), HomeGratingFast(), HomeMirror(), HomeNDFiltersFast(), and HomeZenithFast().

{

    char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);

    // Set default values
    DXL_TxStr("A", 1);
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);


}

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AMS_dirfin()

int AMS_dirfin	(	int	id,
		int	dira,
		int	dirb
	)

Set Final Directions
.

Parameters

id	= AMS ADDRESS
dira	= 0/1 for Motor A
dirb	= 0/1 for Motor B

Returns

int : Number of the AMS revision Program

Definition at line 457 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by DB_Home_CB(), DB_InitMotor(), HomeAzimFast(), HomeFiltersFast(), HomeGratingFast(), HomeMirror(), HomeNDFiltersFast(), and HomeZenithFast().

{
    char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);

    // Set final direction
    sprintf(DXL.buftx, "-%02X%02X", dira, dirb);
    DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);

    return er;
}

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AMS_Divisore()

int AMS_Divisore	(	int	id,
		unsigned long	par1,
		unsigned long	par2
	)

Definition at line 946 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by HomeAzimFast(), HomeMirror(), and HomeTrack().

{

    char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);

    //set divisore
    sprintf(DXL.buftx,">%08lX%08lX", par1, par2);
    DXL_TxStr(DXL.buftx, strlen(DXL.buftx)); 
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);

    return er;

}

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AMS_DoPos()

int AMS_DoPos	(	int	id,
		int	dira,
		int	dirb,
		unsigned long	stepa,
		unsigned long	stepb
	)

Execute Positioning Execute Stepper positioning. Make all the control on the status of the selected motor.

Parameters

id	= AMS ADDRESS
dira	= 0/1 for Motor A
dirb	= 0/1 for Motor B
stepa	= steps for Motor A
stepb	= steps for Motor B

Returns

int er

er:

• 0 = command executed correctly
• 1 = No start character
• 2 = Incongruent address
• 3 = CheckSum error

Definition at line 644 of file Dxl.c.

References controlpanel::Albl_LS, AMS_assadd(), AMS_ReadStep(), AMS_sendstep(), AMS_TestPos(), optionini::amsprogbar, gui::ContrPanel, D_Positioning(), D_VRange(), DBDEMO, das::DOption, flag::exemode, das::Flag, FlgSM_Stop, das::Gui, stepm::postime, stepm::SM_A, stepm::SM_B, stepm::speed_Hz, Status(), das::StepM, TESTSZAMODE, and writelogmotor().

Referenced by DB_StepMotor(), DE_StepMotor(), HomeGratingFast(), and HomeMirror().

{
    int     er = 0;
//  unsigned long x;
    long ns, cont;
    char buf[64];

    FlgSM_Stop = 0;

    //Assign Address
    AMS_assadd(id);


    if ((DAS.Flag.exemode != DBDEMO) & (DAS.Flag.exemode != TESTSZAMODE))
    {

        // Testa se il precedente posizionamento e' finito
        if(stepa)
            er = AMS_TestPos(id, 0);
        if(er) return er;

        // Testa se il precedente posizionamento e' finito
        if(stepb)
            er = AMS_TestPos(id, 1);
        if(er) return er;
    }

/*********************************/
        
    if(stepa && id == 0)
        if(DAS.DOption.amsprogbar)
            D_VRange("Positioning Mirror",0, 255, 0, 0);
    if(stepb && id == 0)
        if(DAS.DOption.amsprogbar)
            D_VRange("Positioning Grating",0, 255, 255, 0);
    if(stepa && id == 1)
        if(DAS.DOption.amsprogbar)
            D_VRange("Positioning Filter Wheel",0, 0, 0, 255);
    if(stepb && id == 1)
        if(DAS.DOption.amsprogbar)
            D_VRange("Positioning ND Filter Wheel",0, 192, 0, 255);
    if(stepa && id == 2)
        if(DAS.DOption.amsprogbar)
            D_VRange("Positioning Zenith",0, 0, 255, 255);
    if(stepb && id == 2)
        if(DAS.DOption.amsprogbar)
            D_VRange("Positioning Azimuth",0, 0, 192, 255);

/*********************************/


    // Trasmette numero di passi
    if ((DAS.Flag.exemode != DBDEMO) & (DAS.Flag.exemode != TESTSZAMODE))
        er = AMS_sendstep(id, dira, dirb, stepa, stepb);

    
    if(stepa && id == 0)
    {
        if ((DAS.Flag.exemode != DBDEMO) & (DAS.Flag.exemode != TESTSZAMODE))
            cont = (long) (stepa / (float) DAS.StepM.speed_Hz[id][DAS.StepM.SM_A]);
        D_Positioning(DAS.Gui.ContrPanel.Albl_LS[0], 0, cont);
    }
    if(stepb && id == 0)
    {
        if ((DAS.Flag.exemode != DBDEMO) & (DAS.Flag.exemode != TESTSZAMODE))
            DAS.StepM.postime[id][DAS.StepM.SM_B] = (long) (stepb / (float) DAS.StepM.speed_Hz[id][DAS.StepM.SM_B]);
            //cont = (long) (stepb / (float) DAS.StepM.speed_Hz[id][DAS.StepM.SM_B]);
        D_Positioning(DAS.Gui.ContrPanel.Albl_LS[1], 1, DAS.StepM.postime[id][DAS.StepM.SM_B]);
        //D_Positioning(DAS.Gui.ContrPanel.Albl_LS[1], 1, cont);
    }
    if(stepa && id == 1)
    {
        if ((DAS.Flag.exemode != DBDEMO) & (DAS.Flag.exemode != TESTSZAMODE))
            cont = (long) (stepa / (float) DAS.StepM.speed_Hz[id][DAS.StepM.SM_A]);
        D_Positioning(DAS.Gui.ContrPanel.Albl_LS[2], 2, cont);
    }       
    if(stepb && id == 1)
    {
        if ((DAS.Flag.exemode != DBDEMO) & (DAS.Flag.exemode != TESTSZAMODE))
            cont = (long) (stepb / (float) DAS.StepM.speed_Hz[id][DAS.StepM.SM_B]);
        D_Positioning(DAS.Gui.ContrPanel.Albl_LS[3], 3, cont);
    }       
    if(stepa && id == 2)
    {
        if ((DAS.Flag.exemode != DBDEMO) & (DAS.Flag.exemode != TESTSZAMODE))
            cont = (long) (stepa / (float) DAS.StepM.speed_Hz[id][DAS.StepM.SM_A]);
        D_Positioning(DAS.Gui.ContrPanel.Albl_LS[4], 4, cont);
    }       
    if(stepb && id == 2)
    {
        if ((DAS.Flag.exemode != DBDEMO) & (DAS.Flag.exemode != TESTSZAMODE))
            cont = (long) (stepb / (float) DAS.StepM.speed_Hz[id][DAS.StepM.SM_B]);
        D_Positioning(DAS.Gui.ContrPanel.Albl_LS[5], 5, cont);
    }       



    if(DAS.DOption.amsprogbar)
        D_VRange(NULL, 100, 0,0,0);

/*********************************/
    /* FILE DI LOG */   
    if(stepa && id == 0)
        writelogmotor(0, 0, er, dira, stepa, 0);
    if(stepb && id == 0)
        writelogmotor(0, 1, er, dirb, stepb, 0);
    if(stepa && id == 1)
        writelogmotor(0, 2, er, dira, stepa, 1);
    if(stepb && id == 1)
        writelogmotor(0, 3, er, dirb, stepb, 1);
    if(stepa && id == 2)
        writelogmotor(0, 4, er, dira, stepa, 2);
    if(stepb && id == 2)
        writelogmotor(0, 5, er, dirb, stepb, 2);
/*********************************/

    if(er) return er;

    if ((DAS.Flag.exemode != DBDEMO) & (DAS.Flag.exemode != TESTSZAMODE))
    {
        // Testa se il precedente posizionamento e' finito
        if(stepa)
            er = AMS_TestPos(id, 0);
        if(er) return er;

        // Testa se il precedente posizionamento e' finito
        if(stepb)
            er = AMS_TestPos(id, 1);
        if(er) return er;

        /*******************************************************/
        /*  Conta numero di passi effettuati */
        if(stepa)
        {
            ns = AMS_ReadStep(id, 0);
            sprintf(buf, "Steps A: %ld", ns);
            Status(buf);
        }

        if(stepb)
        {
            ns = AMS_ReadStep(id, 1);
            sprintf(buf, "Steps B: %ld", ns);
            Status(buf);
        }

        /******************************************************/                
    }
    else //DEMO MODE
    {
        /*  Conta numero di passi effettuati */
        if(stepa)
        {
            
            sprintf(buf, "Steps A: %ld", stepa);
            Status(buf);
        }

        if(stepb)
        {
            
            sprintf(buf, "Steps B: %ld", stepb);
            Status(buf);
        }
    
    }

    FlgSM_Stop = 1;
    return er;  
}

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AMS_firmrev()

int AMS_firmrev

(

int

id

)

Firmware Revision Number
.

Parameters

id	= AMS ADDRESS

Returns

int : Number of the AMS revision Program

Definition at line 475 of file Dxl.c.

References AMS_assadd(), DXL_par::bufrx, DXL_RxStr(), DXL_TxStr(), and STS0LEN.

Referenced by DB_InitAMS().

{
//  char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);

    // Firmware Revision
    DXL_TxStr("%%", 1);
    d = STS0LEN;
    er = DXL_RxStr(DXL.bufrx, &d);

    return er;
}

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AMS_Home()

int AMS_Home	(	int	id,
		int	mota,
		int	motb
	)

Home position for the selected motor
the home position is reached with the standard parameters (1KHz, 2000 s/r)

Home position for the selected motor
the home position is reached with the actual parameters for the motors.

Parameters

id	= AMS ADDRESS
mota	Motor A
motb	Motor B

Returns

er:

• 0 = command executed correctly
• 1 = problems in COM communication

Definition at line 549 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by HomeGratingFast(), HomeMirror(), and HomeZenithFast().

{
    char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);

    //Send Polarity for home and work
    sprintf(DXL.buftx,"+%02X%02X", mota, motb);
    DXL_TxStr(DXL.buftx, 5);
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);

    return er;
}

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AMS_HomeDefault()

int AMS_HomeDefault	(	int	id,
		int	mota,
		int	motb
	)

Definition at line 567 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by HomeGratingFast(), HomeMirror(), and HomeZenithFast().

{
    char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);

    //Send Polarity for home and work
    sprintf(DXL.buftx,"<%02X%02X", mota, motb);
    DXL_TxStr(DXL.buftx, 5);
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);

    return er;
}

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AMS_MotorOn_Off()

int AMS_MotorOn_Off	(	int	id,
		int	mtr1,
		int	mtr2
	)

Motor ON-OFF.
Switch On-Off the selected motor of the selected AMS.

Parameters

addr	= AMS address: 0 = AMS1 1 = AMS2 2 = AMS3
mtr1	= 0 –> motorA OFF = 1 –> motorA ON
mtr2	= 0 –> motorB OFF = 1 –> motorB ON

Returns

er:

• = 0 –> Operation concluded succesfully
• = 1 –> Problems in stopping or starting motor

Definition at line 930 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by E_Home_SM3(), and Task_HomeGrat().

{
    char    buf[80];
    int     er = 0, d;

    //Assign Address
    AMS_assadd(id);

    sprintf(DXL.buftx, "2%02X%02X", mtr1, mtr2);
    DXL_TxStr(DXL.buftx,strlen(DXL.buftx));
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);    
    return er;
}

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AMS_Power()

int AMS_Power	(	int	id,
		int	powa,
		int	powb
	)

Set Power for AMS
Procedure for setting the user choosed power to the selected AMS adapter.

Parameters

id	AMS ADDRESS: 0 = AMS1 1 = AMS2 2 = AMS3
powa	power assigned to motor A (Range: 00h-4Ch, Bit weight = 0.02A, Default = 19h = 0.5A)
powb	power assigned to motor B (Range: 00h-4Ch, Bit weight = 0.02A, Default = 19h = 0.5A)

Returns

er:

• 0 = command executed correctly
• 1 = No start character
• 2 = Incongruent address
• 3 = CheckSum error

Definition at line 326 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::buftx, delay(), DXL_RxStr(), and DXL_TxStr().

Referenced by DB_InitAMS().

{
    char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);

    sprintf(DXL.buftx, "&%02X%02X", 0, 0);
    DXL_TxStr(DXL.buftx, 5);
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);
    delay(50);
    //send power
    sprintf(DXL.buftx, "&%02X%02X", powa, powb);
    DXL_TxStr(DXL.buftx, 5);
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);

    return er;
}

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AMS_PWM()

void AMS_PWM	(	int	id,
		int	on,
		int	off
	)

set the on/off time on the PWM
set the on/off time on the PWM.

Parameters

id	= AMS ADDRESS
on	= on time
off	= off time

Returns

Definition at line 492 of file Dxl.c.

References ACKLEN, DXL_par::add, AMS_assadd(), DXL_par::buftx, delay(), DXL_RxStr(), and DXL_TxStr().

Referenced by ADTesterCB(), OMU_AssignPow(), and ShutCB().

{
    char buf[80];
    int er, d;

    //Assign Address
    AMS_assadd(id);

//  on = 450;
//  off = 50;
    sprintf(DXL.buftx, "6%08X%08X", (unsigned int)on,  (unsigned int)off );
    DXL.add = 1; //AMS2 address
    DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
    delay(500);
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);    

}

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AMS_PWM_OFF()

void AMS_PWM_OFF

(

int

id

)

Definition at line 584 of file Dxl.c.

References ACKLEN, DXL_par::add, AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by OMU_DoPeltPow().

{
    char buf[80];
    int er, d;

    //Assign Address
    AMS_assadd(id);

//  on = 450;
//  off = 50;
    sprintf(DXL.buftx, "7", 1);
    DXL.add = 1; //AMS2 address
    DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);    

}

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AMS_PWM_Zero()

void AMS_PWM_Zero

(

int

mod

)

Definition at line 2570 of file Spat_Device.c.

References AMS2, AMS_wopto(), ChkDigIO(), delay(), stepm::OOP, and das::StepM.

Referenced by OMU_DoPeltPow().

{

    int er;
    
    er = ChkDigIO(DAS.StepM.OOP[AMS2], 0);
    
    if(mod) 
        DAS.StepM.OOP[AMS2] |= 0x01; //bit 0 , 00000001
    else    
        DAS.StepM.OOP[AMS2] &= 0xFE;        


    // 1's complement
    DAS.StepM.OOP[AMS2] = ~DAS.StepM.OOP[AMS2]; 
    //write on the optoinsulated port
    //AMS_wopto(AMS2, DAS.StepM.OOP[AMS2]);
    AMS_wopto(AMS2, 1);
    delay(500);
    // again 1's complement for restoring the positive logic
    DAS.StepM.OOP[AMS2] = ~DAS.StepM.OOP[AMS2];




}

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AMS_ReadStep()

unsigned long AMS_ReadStep	(	int	id,
		int	motor
	)

read performed steps
Procedure for the determination of the number of steps executed.

Parameters

id	= AMS ADDRESS
motor	= 0 –> A Motor, = 1 –> B Motor

Returns

unsigned long = number of steps

Definition at line 60 of file Dxl.c.

References AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by AMS_DoPos(), AMS_TestPos(), DB_ToolsKeyB_CB(), and Task_HomeGrat().

{

    char buf[80];
    int d, er; 
    long ns;
    
    //Assign Address
    AMS_assadd(id);

    sprintf(DXL.buftx, "1%02X", motor);
    DXL_TxStr(DXL.buftx, 3);
    d = 15;
    er = DXL_RxStr(buf, &d);
    if(er == 0)
    {
        sscanf(buf, "%lx", &ns);
        return ns;
    }
    
    return 0;
}

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AMS_sendstep()

int AMS_sendstep	(	int	id,
		int	dira,
		int	dirb,
		unsigned long	stepa,
		unsigned long	stepb
	)

Send steps Procedure for sending steps to the Stepper Motor.

Parameters

id	= AMS ADDRESS
dira	= 0/1 for Motor A
dirb	= 0/1 for Motor B
stepa	= steps for Motor A
stepb	= steps for Motor B

Returns

int er

er:

• 0 = command executed correctly
• 1 = No start character
• 2 = Incongruent address
• 3 = CheckSum error

Definition at line 513 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by AMS_DoPos(), SD_PosAADev(), SD_Position(), and SD_PosOMUDev().

{
    char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);

    //Send  step number
    sprintf(DXL.buftx,".%02X%08lX%02X%08lX", dira, stepa, dirb, stepb);
    DXL_TxStr(DXL.buftx, 21);
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);

    return er;
}

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AMS_Slope()

int AMS_Slope	(	int	id,
		int	slopea,
		int	slopeb
	)

Set slope to the Stepper motors Procedure for setting the slope fot the Stepper Motors.

Parameters

id	= AMS ADDRESS
slopea	slope for motor A
slopeb	slope for motor B

Returns

int er

er:

• 0 = command executed correctly
• 1 = No start character
• 2 = Incongruent address
• 3 = CheckSum error

Definition at line 368 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by DB_InitAMS().

{
    char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);

    // Send slope
    sprintf(DXL.buftx, "(%02X%02X", slopea, slopeb);
    DXL_TxStr(DXL.buftx, 5);
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);

    return er;
}

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AMS_Speed()

int AMS_Speed	(	int	id,
		int	speeda,
		int	speedb
	)

Set speed to the Stepper motors Procedure for setting speed for the Stepper Motors.

Parameters

id	= AMS ADDRESS
speeda	speed for motor A
speedb	speed for motor B

Returns

int er

er:

• 0 = command executed correctly
• 1 = No start character
• 2 = Incongruent address
• 3 = CheckSum error

Definition at line 386 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by DB_InitAMS().

{
    char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);

    // Send speed
    sprintf(DXL.buftx, "4%02X%02X", speeda, speedb);
    DXL_TxStr(DXL.buftx, 5);
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);

    return er;
}

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AMS_Step()

int AMS_Step	(	int	id,
		int	stepa,
		int	stepb
	)

Set stepping for the Stepper motors Procedure for setting steps for the Stepper Motors.

Parameters

id	= AMS ADDRESS
stepa	stepping value for motor A
stepb	stepping value for motor B

Returns

int er

er:

• 0 = command executed correctly
• 1 = No start character
• 2 = Incongruent address
• 3 = CheckSum error

Definition at line 349 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by DB_InitAMS().

{
    char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);

    // Send step
    sprintf(DXL.buftx, "'%02X%02X", stepa, stepb);
    DXL_TxStr(DXL.buftx, 5);
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);

    return er;

}

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AMS_TestHome()

int AMS_TestHome	(	int	id,
		int	par1
	)

verify if the home position has been reached

verify the if home position has been reached

Parameters

id	= AMS ADDRESS
par1	0 = Motor A; 1 = Motor B

Returns

int d:

• 0 = home not reached
• 1 = Home reached

Parameters

id	= AMS ADDRESS
par1	0 = Motor A; 1 = Motor B

Returns

er:

• 0 = home not reached
• 1 = Home reached

Definition at line 1042 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::bufrx, DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by D_Homing().

{

//  char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);

    sprintf(DXL.buftx,"G%02X", par1);
    DXL_TxStr(DXL.buftx, strlen(DXL.buftx)); 
    d = ACKLEN;
    er = DXL_RxStr(DXL.bufrx, &d);
    d = atoi(DXL.bufrx);

    return d;

}

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AMS_TestPos()

int AMS_TestPos	(	int	id,
		int	motor
	)

Test positioning status
Procedure for testing the positioning status of the selected motor.

Parameters

id	= AMS ADDRESS
motor	= 0 –> A Motor, = 1 –> B Motor

Returns

Definition at line 31 of file Dxl.c.

References AMS_assadd(), AMS_ReadStep(), DXL_par::bufrx, DXL_par::buftx, DXL_RxStr(), DXL_TxStr(), MLoopWhileEvents(), and STS0LEN.

Referenced by AMS_DoPos().

{
//  char buf[80];
    int d, er; 
    long ns;
    //Assign Address
    AMS_assadd(id);

//  if (steps > period)
//  {
//      nv = steps / period;
//  }
//  k = 1;
    do
    {
//      if(k) 

        sprintf(DXL.buftx, "8%02X", motor);
        DXL_TxStr(DXL.buftx, 3);
        d = STS0LEN;
        er = DXL_RxStr(DXL.bufrx, &d);
        ns = AMS_ReadStep(id, motor);
        MLoopWhileEvents(0);
    //}while(DXL.bufrx[0] == '0' && DXL.bufrx[1] == '0' && er == 0);
    }while(DXL.bufrx[0] == '0' && DXL.bufrx[1] == '0' && er == 0  && ns != 0);

    return er;
}

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AMS_TestWork()

int AMS_TestWork	(	int	id,
		int	par1
	)

verify the if work position has been reached

Parameters

id	= AMS ADDRESS
par1	0 = Motor A; 1 = Motor B

Returns

er:

• 0 = home not reached
• 1 = Home reached

Definition at line 1064 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

{

    char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);


    sprintf(DXL.buftx,"H%02X", par1);
    DXL_TxStr(DXL.buftx, strlen(DXL.buftx)); 
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);

    return er;

}

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AMS_TrackOff()

int AMS_TrackOff	(	int	id,
		int	amot,
		int	bmot
	)

tracking off Procedure for Stepper Motor tracking de-activation

Parameters

id	= AMS ADDRESS
amot	= 1 –> Execute operation on A motor, = 0 –> No operation on A Motor
bmot	= 1 –> Execute operation on B motor, = 0 –> No operation on B Motor

Returns

int er

er:

• 0 = command executed correctly
• 1 = No start character
• 2 = Incongruent address
• 3 = CheckSum error

Definition at line 422 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by HomeAzimFast(), HomeFiltersFast(), HomeNDFiltersFast(), HomeTrack(), and Task_AMSH().

{
    char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);

    sprintf(DXL.buftx, "5%02X%02X", amot, bmot);
    DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);

    return er;

}

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AMS_TrackOn()

int AMS_TrackOn	(	int	id,
		int	adir,
		int	bdir,
		unsigned long	acount,
		unsigned long	bcount
	)

Activate tracking Procedure for Stepper Motor tracking activation.

Parameters

id	= AMS ADDRESS
adir	direction of motor A
bdir	direction of motor B
acount	COUNT = 10E6/F with F = 200 / StepFrac * (rpm) / 60 for motor A
bcount	COUNT = 10E6/F with F = 200 / StepFrac * (rpm) / 60 for motor B

Returns

int er

er:

• 0 = command executed correctly
• 1 = No start character
• 2 = Incongruent address
• 3 = CheckSum error

Definition at line 404 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by HomeAzimFast(), HomeFiltersFast(), HomeNDFiltersFast(), and HomeTrack().

{
    char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);

    sprintf(DXL.buftx, "0%02X%08lX%02X%08lX", adir, acount, bdir, bcount);
    DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);
    
    return er;

}

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AMS_wopto()

int AMS_wopto	(	int	id,
		unsigned int	w
	)

write the value on the optoinsulated port
write the value on the optoinsulated port.

Parameters

id	= AMS ADDRESS
w	= number of bit to be setted (0-7)

Returns

Definition at line 911 of file Dxl.c.

References ACKLEN, AMS_assadd(), DXL_par::buftx, DXL_RxStr(), and DXL_TxStr().

Referenced by AMS_PWM_Zero(), ExtLamp(), ExtShutt(), FANECU(), FANPeltier(), HgLamp(), HiresPS(), OOP_CB(), Peltier(), PeltierPS(), QjLamp(), and SD_FNTorqueM().

{
    char buf[80];
    int d, er; 

    //Assign Address
    AMS_assadd(id);
    //Write the opto port
    sprintf(DXL.buftx, "9%02X", w); 
    DXL_TxStr(DXL.buftx, 3);
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);    

    return er;  
}

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DXL_Close()

int DXL_Close

(

void

)

Close COM.

Definition at line 1258 of file Dxl.c.

References DXL_par::com, SioDone(), and SioReset().

Referenced by DB_CloseCOM().

{
    int er;
    er = SioReset(DXL.com, 64, 64);
    return(SioDone(DXL.com));
}

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DXL_Open()

int DXL_Open	(	int	addr,
		int	com,
		int	baud
	)

Open COM.

Parameters

addr	0
com	= COM1 = 0 COM2 = 1 COM3 = 2 COM4 = 3
baud	= Baud110 = 0 Baud300 = 1 Baud1200 = 2 Baud2400 = 3 Baud4800 = 4 Baud9600 = 5 Baud19200 = 6 Baud38400 = 7 Baud57600 = 8 Baud115200 = 9

Returns

er:

• 0 = operation concluded succesfull
• not 0 = problems occurred

Definition at line 1243 of file Dxl.c.

References DXL_par::add, Baud19200, DXL_par::com, NoParity, OneStopBit, SioBaud(), SioParms(), SioReset(), DXL_par::speed, and WordLength8.

Referenced by DB_InitCOM().

{
    int     er = 0;
    DXL.speed = baud;
    DXL.com = com;
    DXL.add = addr; // Default device address

    SioReset(DXL.com, 64, 64);
    SioBaud(DXL.com, Baud19200);
    SioParms(DXL.com, NoParity, OneStopBit, WordLength8);


    return er;
}

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DXL_RxStr()

int DXL_RxStr	(	char *	rx,
		int *	len
	)

receive string from a serial port

Parameters

rx	received string
*len	num of chars to be received

Returns

er: num of received chars

Definition at line 1187 of file Dxl.c.

References DXL_par::add, DXL_par::bufrx, DXL_par::com, DWORD, DXL_HexBin(), p, SioGets(), SioRxQue(), and st.

Referenced by AMS_AzzeraCoord(), AMS_chkbitsts(), AMS_chkbitsts_old(), AMS_Default(), AMS_dirfin(), AMS_Divisore(), AMS_ESlope(), AMS_firmrev(), AMS_Home(), AMS_HomeDefault(), AMS_MotorOn_Off(), AMS_Power(), AMS_Proxy(), AMS_PWM(), AMS_PWM_OFF(), AMS_ReadAD(), AMS_ReadStep(), AMS_sendstep(), AMS_SetPolarity(), AMS_Slope(), AMS_Speed(), AMS_Step(), AMS_TestHome(), AMS_TestPos(), AMS_TestWork(), AMS_TrackOff(), AMS_TrackOn(), AMS_wopto(), DB_InitAMS(), DB_StsMotor(), FPGACB(), HomeFiltersFast(), and HomeNDFiltersFast().

{
    unsigned char cksm = 0, rcksm, add;
    int     c, p = 0;
    DWORD   st, et;

    DXL.bufrx[0] = DXL.bufrx[1] = 0;

    st = GetTickCount();
    do
    {
        c = SioRxQue(DXL.com);
        et = GetTickCount();
    //}while(c < *len && labs(et - st) < 2000);
    }while(c < *len && labs(et - st) < 500);

    SioGets(DXL.com, DXL.bufrx, c);
    
    
    while(DXL.bufrx[p++] != '$' && p < 80);
    
    if(p == 80)
        // No start character
        return 1;
    p--;
    add = DXL_HexBin(&DXL.bufrx[p + 1]);
    if(add != DXL.add)
        // Incongruent address
        return 2;
    cksm += DXL.bufrx[p + 1];
    cksm += DXL.bufrx[p + 2];
    for(c = p + 3; c < 80; c++)
    {
        if(DXL.bufrx[c] != '#')
        {
            cksm += DXL.bufrx[c];
            rx[c - 3] = DXL.bufrx[c];
        }
        else
        {
            c++;
            rcksm = DXL_HexBin(&DXL.bufrx[c]);
            rx[c - 4] = 0;
            break;
        }
    }
    if(rcksm != cksm)
        // CheckSum error
        return 3;
    *len = c - 3;
    return 0;
}

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DXL_TxStr()

void DXL_TxStr	(	char *	tx,
		int	len
	)

send string to a serial port

Parameters

*tx	sent string
len	num of chars to be sent

Definition at line 1153 of file Dxl.c.

References DXL_par::add, ch, DXL_ByteHex(), and DXL_TxByte().

Referenced by AMS_AzzeraCoord(), AMS_chkbitsts(), AMS_chkbitsts_old(), AMS_Default(), AMS_dirfin(), AMS_Divisore(), AMS_ESlope(), AMS_firmrev(), AMS_Home(), AMS_HomeDefault(), AMS_MotorOn_Off(), AMS_Power(), AMS_Proxy(), AMS_PWM(), AMS_PWM_OFF(), AMS_ReadAD(), AMS_ReadStep(), AMS_sendstep(), AMS_SetPolarity(), AMS_Slope(), AMS_Speed(), AMS_Step(), AMS_TestHome(), AMS_TestPos(), AMS_TestWork(), AMS_TrackOff(), AMS_TrackOn(), AMS_wopto(), DB_InitAMS(), DB_StsMotor(), FPGACB(), HomeFiltersFast(), and HomeNDFiltersFast().

{
    unsigned char cksm = 0, ch;
    int     c;

    DXL_TxByte('$');

    ch = DXL_ByteHex((unsigned char) ((DXL.add >> 4) & 0x0F));
    DXL_TxByte(ch);
    cksm += ch;
    ch = DXL_ByteHex((unsigned char) (DXL.add & 0x0F));
    DXL_TxByte(ch);
    cksm += ch;
    for(c = 0; c < len; c++)
    {
        DXL_TxByte(tx[c]);
        cksm += tx[c];
    }
    DXL_TxByte('#');
    ch = DXL_ByteHex((unsigned char) ((cksm >> 4) & 0x0F));
    DXL_TxByte(ch);
    ch = DXL_ByteHex((unsigned char) (cksm & 0x0F));
    DXL_TxByte(ch);
    DXL_TxByte(13);
}

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