cinosposchannels.h

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//******************************************************************************
//******************************************************************************
 
#ifndef INC_CINOSPOSCHANNELS_H
#define INC_CINOSPOSCHANNELS_H
 
//------------------------------------------------------------------------------
// defines
//------------------------------------------------------------------------------
//
#define DF_INOS_IMAGE_POSITIONS_NUMBER      DF_INOS_PROCESSIMAGE_POSITION_NUMBER    // def. number of position chns.
#define DF_INOS_IMAGE_POSITIONS_NUMBER_ADD  32  // additional position chns.
//
// config input
#define DF_INOS_IMAGE_POSITIONS_CFG_SYD 0x00010000  // synced   
#define DF_INOS_IMAGE_POSITIONS_CFG_NUP 0x00020000  // zero impuls
#define DF_INOS_IMAGE_POSITIONS_CFG_AED 0x00040000  // axis enabled     
#define DF_INOS_IMAGE_POSITIONS_CFG_COM 0x00080000  // commutation ok
//
// config output
#define DF_INOS_IMAGE_POSITIONS_CFG_SEN 0x00100000  // sync enable  
#define DF_INOS_IMAGE_POSITIONS_CFG_AEN 0x00200000  // axis enable  
#define DF_INOS_IMAGE_POSITIONS_CFG_OU2 0x00400000  // reserved     
#define DF_INOS_IMAGE_POSITIONS_CFG_OU3 0x00800000  // reserved
//
#define DF_INOS_IMAGE_POSITIONS_CFG_INV 0x02000000  // invert direction
#define DF_INOS_IMAGE_POSITIONS_CFG_CAL 0x01000000  // calibration active
//
// bit numbers
#define DF_INOS_IMAGE_POSITIONS_NBR_IN2     18      // 
 
// config names
#define DF_INOS_IMAGE_POSITIONS_CFG_SYD_NAME "Synched" 
#define DF_INOS_IMAGE_POSITIONS_CFG_NUP_NAME "ZeroImpuls" 
#define DF_INOS_IMAGE_POSITIONS_CFG_AED_NAME "AxisEnabled" 
#define DF_INOS_IMAGE_POSITIONS_CFG_SEN_NAME "SynchEnable" 
#define DF_INOS_IMAGE_POSITIONS_CFG_AEN_NAME "AxisEnable" 
#define DF_INOS_IMAGE_POSITIONS_CFG_INV_NAME "InvertDirection" 
#define DF_INOS_IMAGE_POSITIONS_CFG_CAL_NAME "CalibEnabled" 
//
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
//
// system
//
// C++
//
// project
//
//------------------------------------------------------------------------------
// class definition
//------------------------------------------------------------------------------
//
class CINOSBusJob;
class CINOSPosChannels : public CINOSProcessImageValues
{
    //--- user interface ---------------------------------------------------
 
    // public member functions
    public :
        ICACHE virtual void Set(uint16 auNumber, real64 arValue) override;
            //; set channel 'auNumber' to arValue
        ICACHE virtual real64 Get(uint16 auNumber) override;
            //; get value of channel 'auNumber'
        ICACHE virtual void SetConfig(uint16 auNumber, uint32 auConfig, uint32 auMask,
            uint32 auOffset=0) override;
            //; set config of channel 'auNumber' to auConfig (only bits set in 
            //; auMask are affected)
        ICACHE virtual uint32 GetConfig(uint16 auNumber, uint32 auOffset=0) override;
            //; get config of channel 'auNumber'
        virtual void* GetConfigAdr(uint16 auNumber, uint32 auOffset=0) override;
            //; get config address of channel 'auNumber'
        virtual void* GetRawBaseAddress()
            { return m_pRawPos; };
            //; get base address of raw pos values
 
        ICACHE int32 GetPosition(uint16 auNumber);
            //; return position of channel auNumber
        #if defined(INOS_PROCESSIMAGE_OVERWRITE)
        ICACHE void SetPosition(uint16 auNumber, int32 aiValue, bool abOverwrite = true);
            //; set value of channel auNumber to aiValue
            //; (abOverwrite=true -> value always set, abOverwrite=false -> value
            //; set if channel is NOT in overwrite mode)
        #else
        ICACHE void SetPosition(uint16 auNumber, int32 aiValue);
            //; set value of channel auNumber to aiValue
        #endif
        ICACHE int32 GetRawOffset(uint16 auNumber);
            //; return raw position offset
        ICACHE void SetRawOffset(uint16 auNumber, int32 aiOffset);
            //; set raw position offset
        ICACHE int32 GetRawPosition(uint16 auNumber, uint32 auStage=0);
            //; return raw position of channel auNumber before hook number 'auStage'
        ICACHE real32 GetControl(uint16 auNumber);
            //; get control of channel auNumber  (100% = 28672, -100% = - 28672)
        ICACHE void SetControl(uint16 auNumber, real32 arValue);
            //; set control of channel auNumber to afValue
        ICACHE real32 GetSerror(uint16 auNumber);
            //; get Serror of channel auNumber
        ICACHE void SetSerror(uint16 auNumber, real32 arValue);
            //; set Serror of channel auNumber to arValue
        ICACHE void SetValue(uint16 auNumber, real32 arValue);
            //; set channel control to arValue * 2.8672 -> takes +-10000.0 mV
        ICACHE bool GetSyncEnable(uint16 auNumber);
            //; return state of 'sync enable' output
        ICACHE void SetSyncEnable(uint16 auNumber, bool abValue);
            //; set 'synch enable' output to abValue
        ICACHE bool GetAxisEnable(uint16 auNumber);
            //; return 'axis enable' output
        ICACHE void SetAxisEnable(uint16 auNumber, bool abValue);
            //; set 'axis enable' output to abValue
        ICACHE bool GetSynced(uint16 auNumber);
            //; return state of 'synced' input
        ICACHE bool GetZeroImpuls(uint16 auNumber);
            //; return state of 'zero impuls' input
        ICACHE bool GetAxisEnabled(uint16 auNumber);
            //; return state of 'axis enabled' input
        ICACHE bool GetInverted(uint16 auNumber);
            //; return state of 'inverted'
        ICACHE void SetInverted(uint16 auNumber, bool abValue);
            //; set 'inverted' to abValue   
        ICACHE bool GetCalibEnabled(uint16 auNumber);
            //; return state of 'calibenabled'
        ICACHE void SetCalibEnabled(uint16 auNumber, bool abValue);
            //; set 'calibenabled' to abValue
                        
        CINOSPosChannel* Find(const char* apName,
            uint32 auSimulate = DF_INOS_IMAGE_CHN_SIM_DEF);
            //; return pointer to channel with apName or NULL if not found
        CINOSPosChannel* Find(uint16 auNumber,
            uint32 auSimulate = DF_INOS_IMAGE_CHN_SIM_DEF);
            //; return pointer to channel with auNumber or NULL if not found
 
    //--- internals --------------------------------------------------------
 
    // constructor / destructor
    public :
        CINOSPosChannels (char* apName, uint32 auNumber, void* apImage);
            //; object constructor
 
    // public member functions but just for internal use
    public:
        static void Create();
            //; check if process image already exists, if not create one
        uint32 GetUniqueNumber();
            //; return a unique pos channel number
 
    // public members but just for internal use
    public :
        real32* m_pControl;
            //; pointer to control data
        real32* m_pSerror;
            //; pointer to Serror data
        int32* m_pRawPos;
            //; pointer to raw positions
        int32* m_pRawOffset;
            //; pointer to raw position offsets
        uint32 m_uUniqueNumber;
            //; next free number
};
 
//
//------------------------------------------------------------------------------
// global variables
//------------------------------------------------------------------------------
//
#define g_pPosChannels ((CINOSPosChannels *) g_pImage[DF_PROCESS_IMAGE_POSITIONS])
//
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_CINOSPOSCHANNELS_H