emcmotglb.c Source File

00001 /*
00002   emcmotglb.c
00003 
00004   Compile-time configuration parameters
00005 
00006   Set the values in emcmotcfg.h; these vars will be set to those values
00007   and emcmot.c can reference the variables with their defaults. This file
00008   exists to avoid having to recompile emcmot.c every time a default is
00009   changed.
00010 
00011   Modification history:
00012 
00013   20-Mar-2000 WPS added unused attribute to ident to avoid 'defined but not used' compiler warning.
00014   28-Jul-1999  FMP added NUM_AXES
00015   8-Jun-1999  FMP took out SM_CYCLE_TIME decl since we're now using
00016   servo cycle time / 2 for this
00017   18-Aug-1998  FMP added BIAS, MAX_ERROR
00018   6-Aug-1998  FMP added SM_CYCLE_TIME
00019   8-Jul-1998  FMP added EMCMOT_INIFILE defs
00020   5-Jun-1998  FMP added BACKLASH
00021   1-Apr-1998  FMP added EMCMOT_COMM_TIMEOUT, EMCMOT_COMM_WAIT
00022   6-Jan-1998  FMP added PID gains, input/output offsets, base address/key
00023   15-Nov-1997  FMP changed to emcmotglb.c
00024   16-Oct-1997  FMP created
00025   */
00026 
00027 #include "emcmotglb.h"          /* these decls */
00028 #include "emcmotcfg.h"          /* initial values */
00029 
00030 /* ident tag */
00031 #ifndef __GNUC__
00032 #ifndef __attribute__
00033 #define __attribute__(x)
00034 #endif
00035 #endif
00036 
00037 static char __attribute__((unused)) ident[] = "$Id: emcmotglb.c,v 1.4 2001/06/27 19:22:04 wshackle Exp $";
00038 
00039 char EMCMOT_INIFILE[EMCMOT_INIFILE_LEN] = DEFAULT_EMCMOT_INIFILE;
00040 
00041 unsigned long int SHMEM_BASE_ADDRESS = DEFAULT_SHMEM_BASE_ADDRESS;
00042 
00043 unsigned int SHMEM_KEY = DEFAULT_SHMEM_KEY;
00044 
00045 double EMCMOT_COMM_TIMEOUT = DEFAULT_EMCMOT_COMM_TIMEOUT;
00046 double EMCMOT_COMM_WAIT = DEFAULT_EMCMOT_COMM_WAIT;
00047 
00048 int NUM_AXES = EMCMOT_MAX_AXIS;
00049 
00050 double TRAJ_CYCLE_TIME = DEFAULT_TRAJ_CYCLE_TIME;
00051 double SERVO_CYCLE_TIME = DEFAULT_SERVO_CYCLE_TIME;
00052 
00053 double VELOCITY = DEFAULT_VELOCITY;
00054 double ACCELERATION = DEFAULT_ACCELERATION;
00055 
00056 double MAX_LIMIT = DEFAULT_MAX_LIMIT;
00057 double MIN_LIMIT = DEFAULT_MIN_LIMIT;
00058 
00059 double MAX_OUTPUT = DEFAULT_MAX_OUTPUT;
00060 double MIN_OUTPUT = DEFAULT_MIN_OUTPUT;
00061 
00062 int TC_QUEUE_SIZE = DEFAULT_TC_QUEUE_SIZE;
00063 
00064 int MMXAVG_SIZE = DEFAULT_MMXAVG_SIZE;
00065 
00066 #if 0
00067 double tMmxavgSpace[DEFAULT_MMXAVG_SIZE];
00068 double sMmxavgSpace[DEFAULT_MMXAVG_SIZE];
00069 double nMmxavgSpace[DEFAULT_MMXAVG_SIZE];
00070 #endif
00071 
00072 double MAX_FERROR = DEFAULT_MAX_FERROR;
00073 
00074 double P_GAIN = DEFAULT_P_GAIN;
00075 double I_GAIN = DEFAULT_I_GAIN;
00076 double D_GAIN = DEFAULT_D_GAIN;
00077 double FF0_GAIN = DEFAULT_FF0_GAIN;
00078 double FF1_GAIN = DEFAULT_FF1_GAIN;
00079 double FF2_GAIN = DEFAULT_FF2_GAIN;
00080 double BACKLASH = DEFAULT_BACKLASH;
00081 double BIAS = DEFAULT_BIAS;
00082 double MAX_ERROR = DEFAULT_MAX_ERROR;
00083 
00084 double INPUT_SCALE = DEFAULT_INPUT_SCALE;
00085 double INPUT_OFFSET = DEFAULT_INPUT_OFFSET;
00086 double OUTPUT_SCALE = DEFAULT_OUTPUT_SCALE;
00087 double OUTPUT_OFFSET = DEFAULT_OUTPUT_OFFSET;
00088 
00089 
00090 
00091