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Added defines to communicate with AeroBasic program on controller.

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timmmooney
2013-11-12 22:53:22 +00:00
parent 0eb9e5c5b8
commit e450e27669
1 changed files with 65 additions and 0 deletions
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motorApp/AerotechSrc/EnsembleTrajectoryScan.h
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@@ -330,3 +330,68 @@ evflag readbackMon; sync readback readbackMon;
evflag nelementsMon; sync nelements nelementsMon;
evflag motorMDVSMon; sync motorMDVS motorMDVSMon;
/* This is going to get messy. We need to use Ensemble commands like "VELOCITY" and "PVT",
* But they aren't available via the ASCII interface we're using to send commands. So we
* use ASCII-legal commands to tell an Aerobasic program the commands we want to execute,
* and have the AeroBasic program execute those commands.
*/
/* defines for IGLOBAL values to tell AeroBasic program which command to invoke */
#define cmdDONE 0
#define cmdVELOCITY_ON 1
#define cmdVELOCITY_OFF 2
#define cmdHALT 3
#define cmdSTART 4
#define cmdPVT_INIT_TIME_ABS 5
#define cmdPVT_INIT_TIME_INC 6
#define cmdPVT1 7 /* PVT command for one motor (PVT i1 d1, d2, TIME d3) */
#define cmdPVT2 8 /* PVT command for two motors (PVT i1 d1, d2 i2 d3, d4 TIME d5)*/
#define cmdPVT3 9
#define cmdPVT4 10
#define cmdABORT 11
#define cmdSTARTABORT 12
#define cmdSCOPEBUFFER 13
#define cmdSCOPEDATA 14
#define cmdSCOPESTATUS 15
#define cmdSCOPETRIG 16 /* if IGLOBAL(iarg1Var)==1, stop scope */
#define cmdSCOPETRIGPERIOD 17
#define cmdDRIVEINFO 18 /* per Aerotech email, but not found in 4.02.004 doc */
#define cmdLINEAR 19 /* LINEAR @IGLOBAL(iarg1Var) DGLOBAL(darg1Var) FDGLOBAL(darg1Var) */
#define cmdDATAACQ_TRIG 20 /* DATAACQ @IGLOBAL(iarg1Var) TRIGGER IGLOBAL(1arg2Var) */
#define cmdDATAACQ_INP 21 /* DATAACQ @IGLOBAL(iarg1Var) INPUT IGLOBAL(1arg2Var) */
#define cmdDATAACQ_ON 22 /* DATAACQ @IGLOBAL(iarg1Var) ON IGLOBAL(1arg2Var) */
#define cmdDATAACQ_OFF 23 /* DATAACQ @IGLOBAL(iarg1Var) OFF */
#define cmdDATAACQ_READ 24 /* DATAACQ @IGLOBAL(iarg1Var) READ IGLOBAL(1arg2Var), IGLOBAL(1arg3Var) */
#define cmdDOTRAJECTORY 25 /* for motor IGLOBAL(iarg1Var); 3*IGLOBAL(iarg2Var) DGLOBALs (PVT) have been loaded */
#define cmdVar 45
#define iarg1Var 46
#define iarg2Var 47
#define iarg3Var 48
#define iarg4Var 49
#define darg1Var 1
#define darg2Var 2
#define darg3Var 3
#define numIArg 44
#define numDArg 43
#define pvtWaitMSVar 42
/* Numerical values for first arg for cmdSCOPEDATA */
#define sd_PositionCommand 0
#define sd_PositionFeedback 1
#define sd_ExternalPosition 2
#define sd_AxisFault 3
#define sd_AxisStatus 4
#define sd_AnalogInput0 5
#define sd_AnalogInput1 6
#define sd_AnalogOutput0 7
#define sd_AnalogOutput1 8
#define sd_DigitalInput0 9
#define sd_DigitalInput1 10
#define sd_DigitalOutput0 11
#define sd_DigitalOutput1 12
#define sd_CurrentCommand 13
#define sd_CurrentFeedback 14
#define sd_OptionalData1 15
#define sd_OptionalData2 16
#define sd_ProgramCounter 17