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extsmmot.c

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/*
  extsmmot.c

  Dispatcher of external motion functions to parallel port stepper motor
  implementation. Does not include DIO or AIO external functions.
  Implements the DAC and encoder functions with stubs that return 0.
  Only touches the limit and home switch functions, by looking at the
  parallel port.

  Only supports 6 joints.

  Modification history:

  13-Mar-2000 WPS added unused attribute to ident to avoid 'defined but not used' compiler warning.
  24-Feb-2000  FMP put stepperCount[] in here, which is used for simulated
  encoder feedback with extEncoderRead(), extEncoderReadAll(). Made
  extEncoderReadLatch() return 1 always, since the "encoders" are always
  on an index pulse alignment.
  2-Aug-1999  FMP added 6 joint support.
  2-Sep-1998  FMP returned 0's for axes outside range 0..2
  10-Aug-1998  FMP put all max limits on input 0, mins on input 1, and homes
  on input 2
  7-Aug-1998  FMP created
  */

#include "extintf.h"            /* these decls */
#include "parport.h"            /* parallel port funcs */
#include "emcmot.h"

/* ident tag */
#ifndef __GNUC__
#ifndef __attribute__
#define __attribute__(x)
#endif
#endif

static char __attribute__((unused))  ident[] = "$Id: extsmmot.c,v 1.4 2001/05/14 18:35:06 wshackle Exp $";

#define STEPPER_MAX 6           /* can only handle 6 motors */

/*
   FIXME-- declaration for global in emcmot, used in the encoder
   read function. Is there a better way to do this?
*/
extern EMCMOT_DEBUG *emcmotDebug;

int extMotInit(const char * stuff)
{
  if (0 != pptDioInit(0)) {
    return -1;
  }

  return 0;
}

int extMotQuit()
{
  return pptDioQuit();
}

int extDacNum()
{
  return 0;
}

int extDacWrite(int dac, double volts)
{
  return 0;
}

int extDacWriteAll(int max, double * volts)
{
  return 0;
}

int extEncoderSetIndexModel(unsigned int model)
{
  return 0;
}

int extEncoderNum()
{
  return 0;
}

int extEncoderRead(int encoder, double * counts)
{
  if (encoder < 0 ||
      encoder >= STEPPER_MAX) {
    *counts = 0.0;
  }
  else {
    *counts = (double) emcmotDebug->stepperCount[encoder];
  }

  return 0;
}

int extEncoderReadAll(int max, double * counts)
{
  int t;

  for (t = 0; t < max; t++) {
    if (t >= STEPPER_MAX) {
      counts[t] = 0.0;
    }
    else {
      counts[t] = (double) emcmotDebug->stepperCount[t];
    }
  }

  return 0;
}

int extEncoderResetIndex(int encoder)
{
  return 0;
}

int extEncoderReadLatch(int encoder, int * flag)
{
  *flag = 1;                    /* always on "index pulse" */

  return 0;
}

int extEncoderReadLevel(int encoder, int * flag)
{
  return 0;
}

int extAmpEnable(int axis, int enable)
{
  return 0;
}

int extAmpFault(int axis, int * fault)
{
  return 0;
}

/*
  We gang the max limits onto 1, mins onto another, and homes onto a third:

  (DioRead)
  0  1-6 joints lim + (S3)
  1  1-6 joints lim - (S4)
  2  1-6 joints home  (S5)
  3  unused
  4  unused
*/

int extMaxLimitSwitchRead(int axis, int * flag)
{
  if (axis < 0 || axis >= STEPPER_MAX) {
    *flag = 0;
    return 0;
  }

  pptDioRead(0, flag);

  return 0;
}

int extMinLimitSwitchRead(int axis, int * flag)
{
  if (axis < 0 || axis >= STEPPER_MAX) {
    *flag = 0;
    return 0;
  }

  pptDioRead(1, flag);

  return 0;
}

int extHomeSwitchRead(int axis, int * flag)
{
  if (axis < 0 || axis > STEPPER_MAX) {
    *flag = 0;
    return 0;
  }

  pptDioRead(2, flag);

  return 0;
}

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