amtec_settings.c

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#include "amtec_base.h"
#include "amtec_io.h"
#include "amtec_commands.h"
#include "amtec_conversion.h"
#include "amtec_settings.h"

void AMTEC_set_settings(amtec_powercube_device_p dev, amtec_powercube_setting_p settings, amtec_powercube_params_p params)
{
  if(params->MinPos != settings->MinPos) {
    amtecSetMinPos(dev, params->id, settings->MinPos);
    params->MinPos = settings->MinPos;
  }
  if(params->MaxPos != settings->MaxPos) {
    amtecSetMaxPos(dev, params->id, settings->MaxPos);
    params->MaxPos = settings->MaxPos;
  }
  if(params->MaxAcc != settings->MaxAcc) {
    amtecSetMaxAcc(dev, params->id, settings->MaxAcc);
    params->MaxAcc = settings->MaxAcc;
  }
  if(params->MaxVel != settings->MaxVel) {
    amtecSetMaxVel(dev, params->id, settings->MaxVel);
    params->MaxVel = settings->MaxVel;
  }
  if(params->TargetAcc != settings->TargetAcc) {
    amtecSetTargetAcc(dev, params->id, settings->TargetAcc);
    params->TargetAcc = settings->TargetAcc;
  }
  if(params->TargetVel != settings->TargetVel) {
    amtecSetTargetVel(dev, params->id, settings->TargetVel);
    params->TargetVel = settings->TargetVel;
  }
  if(params->MaxCur != settings->MaxCur) {
    amtecSetMaxCur(dev, params->id, settings->MaxCur);
    params->MaxCur = settings->MaxCur;
  }

  if (settings->C0 != 0 && params->ActC0 != settings->C0) {
    amtecSetActC0(dev, params->id, settings->C0);
  }
  if (settings->Damp != 0 && params->ActDamp != settings->Damp) {
    amtecSetActDamp(dev, params->id, settings->Damp);
  }
  if (settings->A0 != 0 && params->ActA0 != settings->A0) {
    amtecSetActA0(dev, params->id, settings->A0);
  }

  amtecRecalcPIDParam(dev, params->id);
  /*
  if(settings->UseBreak) {
    params->Config = amtecGetConfig(dev, params->id);
    params->Config = params->Config | 8;
    amtecSetConfig(dev, params->id, params->Config);
  }*/
}

void amtecSetSettings(amtec_powercube_p powercube)
{
  AMTEC_set_settings(&powercube->dev, &powercube->panset, &powercube->pan);
  AMTEC_set_settings(&powercube->dev, &powercube->tiltset, &powercube->tilt);
}

void AMTEC_get_params(amtec_powercube_device_p dev, amtec_powercube_params_p params)
{
  params->DefHomeOffset  = amtecGetDefHomeOffset(dev, params->id);
  params->DefGearRatio   = amtecGetDefGearRatio(dev, params->id);
  params->DefLinRatio    = amtecGetDefLinRatio(dev, params->id);
  params->DefMinPos      = amtecGetDefMinPos(dev, params->id);
  params->DefMaxPos      = amtecGetDefMaxPos(dev, params->id);
  params->DefMaxDeltaVel = amtecGetDefMaxDeltaVel(dev, params->id);
  params->DefTorqueRatio = amtecGetDefTorqueRatio(dev, params->id);
  params->DefCurRatio    = amtecGetDefCurRatio(dev, params->id);
  params->DefMaxVel      = amtecGetDefMaxVel(dev, params->id);
  params->DefMaxAcc      = amtecGetDefMaxAcc(dev, params->id);
  params->DefMaxCur      = amtecGetDefMaxCur(dev, params->id);
  params->DefHomeVel     = amtecGetDefHomeVel(dev, params->id);
  params->DefHomeAcc     = amtecGetDefHomeAcc(dev, params->id);

  params->DefCubeSerial  = amtecGetDefCubeSerial(dev, params->id);
  params->DefConfig      = amtecGetDefConfig(dev, params->id);
  params->DefPulsesPerTurn = amtecGetDefPulsesPerTurn(dev, params->id);
  params->DefCubeVersion  = amtecGetDefCubeVersion(dev, params->id);
  params->DefServiceInterval = amtecGetDefServiceInterval(dev, params->id);
  params->DefBrakeTimeOut = amtecGetDefBrakeTimeOut(dev, params->id);
  params->DefAddress      = amtecGetDefAddress(dev, params->id);
  params->DefPrimBaud     = amtecGetDefPrimBaud(dev, params->id);
  //params->DefScndBaud     = amtecGetDefScndBaud(dev, params->id);
  params->PosCount        = amtecGetPosCount(dev, params->id);
  params->RefPosCount     = amtecGetRefPosCount(dev, params->id);
  params->DioSetup        = amtecGetDioSetup(dev, params->id);
  params->CubeState       = amtecGetCubeState(dev, params->id);
  params->TargetPosInc    = amtecGetTargetPosInc(dev, params->id);
  params->TargetVelInc    = amtecGetTargetVelInc(dev, params->id);
  params->TargetAccInc    = amtecGetTargetAccInc(dev, params->id);
  params->StepInc         = amtecGetStepInc(dev, params->id);


  params->ActPos         = amtecGetActPos(dev, params->id);
  params->ActVel         = amtecGetActVel(dev, params->id);
  params->MinPos         = amtecGetMinPos(dev, params->id);
  params->MaxPos         = amtecGetMaxPos(dev, params->id);
  params->MaxVel         = amtecGetMaxVel(dev, params->id);
  params->MaxAcc         = amtecGetMaxAcc(dev, params->id);
  // params->TargetVel      = amtecGetTargetVel(dev, params->id);
  // params->TargetAcc      = amtecGetTargetAcc(dev, params->id);
  params->MaxCur         = amtecGetMaxCur(dev, params->id);
  params->Config         = amtecGetConfig(dev, params->id);
  params->UseBreak       = (int)(((params->Config)>>3)&1);

  params->ActC0          = amtecGetActC0(dev, params->id);
  params->ActDamp        = amtecGetActDamp(dev, params->id);
  params->ActA0          = amtecGetActA0(dev, params->id);
}

void amtecGetParams(amtec_powercube_p powercube)
{
  AMTEC_get_params(&powercube->dev, &powercube->pan);
  AMTEC_get_params(&powercube->dev, &powercube->tilt);
}

void PRINT_CubeState(unsigned long state)
{
  int i;
  unsigned long v = state;

  for(i = 0; i < 32; i++)
    fprintf(stderr, "  %s", (v>>i & 1)==1?"+":"-");
  fprintf(stderr, "\r");
}