emcmotglb.h Source File

00001 #ifndef EMCMOTGLB_H
00002 #define EMCMOTGLB_H
00003 
00004 /*
00005   declarations for globals whose default values are found in emcmotcfg.h
00006 
00007   Modification history:
00008 
00009   13-Mar-2000 WPS added unused attribute to emcmotglb_h to avoid 'defined but not used' compiler warning.
00010   28-Jul-1999  FMP added NUM_AXES
00011   8-Jun-1999  FMP took out SM_CYCLE_TIME decl since we're now using
00012   servo cycle time / 2 for this
00013   18-Aug-1998  FMP added BIAS, MAX_ERROR
00014   6-Aug-1998  FMP added SM_CYCLE_TIME decl
00015   8-Jul-1998  FMP added EMCMOT_INIFILE decls
00016   5-Jun-1998  FMP added BACKLASH
00017   1-Apr-1998  FMP added EMCMOT_COMM_TIMEOUT, EMCMOT_COMM_WAIT
00018   26-Mar-1998  FMP added ifdef __cplusplus
00019   6-Jan-1998  FMP added PID gains, input/output offsets, base address/key
00020   */
00021 
00022 /* ident tag */
00023 #ifndef __GNUC__
00024 #ifndef __attribute__
00025 #define __attribute__(x)
00026 #endif
00027 #endif
00028 
00029 static char __attribute__((unused)) emcmotglb_h[] = "$Id: emcmotglb.h,v 1.4 2001/06/27 19:22:04 wshackle Exp $";
00030 
00031 #ifdef __cplusplus
00032 extern "C" {
00033 #endif
00034 
00035 #define EMCMOT_INIFILE_LEN 256
00036 extern char EMCMOT_INIFILE[EMCMOT_INIFILE_LEN];
00037 
00038 extern unsigned long int SHMEM_BASE_ADDRESS;
00039 extern unsigned int SHMEM_KEY;
00040 
00041 extern double EMCMOT_COMM_TIMEOUT; /* seconds until timeout */
00042 extern double EMCMOT_COMM_WAIT; /* seconds to delay between tries */
00043 
00044 extern int NUM_AXES;
00045 
00046 extern double TRAJ_CYCLE_TIME;
00047 extern double SERVO_CYCLE_TIME;
00048 
00049 extern double VELOCITY;
00050 extern double ACCELERATION;
00051 
00052 extern double MAX_LIMIT;
00053 extern double MIN_LIMIT;
00054 
00055 extern double MAX_OUTPUT;
00056 extern double MIN_OUTPUT;
00057 
00058 extern int TC_QUEUE_SIZE;
00059 
00060 extern int MMXAVG_SIZE;
00061 
00062 #if 0 
00063   // Moved to emcmotDebug struct
00064 extern double tMmxavgSpace[];
00065 extern double sMmxavgSpace[];
00066 extern double nMmxavgSpace[];
00067 #endif
00068 
00069 extern double MAX_FERROR;
00070 
00071 extern double P_GAIN;
00072 extern double I_GAIN;
00073 extern double D_GAIN;
00074 extern double FF0_GAIN;
00075 extern double FF1_GAIN;
00076 extern double FF2_GAIN;
00077 extern double BACKLASH;
00078 extern double BIAS;
00079 extern double MAX_ERROR;
00080 
00081 extern double INPUT_SCALE;
00082 extern double INPUT_OFFSET;
00083 extern double OUTPUT_SCALE;
00084 extern double OUTPUT_OFFSET;
00085 
00086 #ifdef __cplusplus
00087 } /* matches extern "C" at top */
00088 #endif
00089 
00090 #endif /* EMCMOTGLB_H */
00091 
00092 
00093 
00094 
00095 
00096 
00097 
00098 
00099 
00100 
00101 
00102 
00103 
00104