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Spindles: Make spindle velocity limits and plus/minus increments
INI-config items. Signed-off-by: andypugh <andy@bodgesoc.org>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,128 @@ | ||
| /******************************************************************** | ||
| * Description: inispindle.cc | ||
| * INI file initialization routines for spindle NML | ||
| * | ||
| * Derived from a work by Fred Proctor & Will Shackleford | ||
| * | ||
| * Author: Andy Pugh | ||
| * License: GPL Version 2+ | ||
| * System: Linux | ||
| * | ||
| * Copyright (c) 2021 All rights reserved. | ||
| * | ||
| * Last change: created 30/12/21 | ||
| ********************************************************************/ | ||
|
|
||
| #include <unistd.h> | ||
| #include <stdio.h> // NULL | ||
| #include <stdlib.h> // atol(), _itoa() | ||
| #include <string.h> // strcmp() | ||
| #include <ctype.h> // isdigit() | ||
| #include <sys/types.h> | ||
| #include <sys/stat.h> | ||
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| #include "emc.hh" | ||
| #include "rcs_print.hh" | ||
| #include "emcIniFile.hh" | ||
| #include "inispindle.hh" // these decls | ||
| #include "emcglb.h" // EMC_DEBUG | ||
| #include "emccfg.h" // default values for globals | ||
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| #include "inihal.hh" | ||
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| extern value_inihal_data old_inihal_data; | ||
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| /* | ||
| loadSpindls(int spindle) | ||
| Loads ini file params for the specified spindle | ||
| spindle max and min velocities | ||
| */ | ||
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| static int loadSpindle(int spindle, EmcIniFile *spindleIniFile) | ||
| { | ||
| int num_spindles = 1; | ||
| char spindleString[11]; | ||
| double max_pos = 1e99; | ||
| double max_neg = 0; | ||
| double min_pos = 0; | ||
| double min_neg = -1e99; | ||
| int home_sequence = 0; | ||
| double search_vel = 0; | ||
| double home_angle = 0; | ||
| double increment = 100; | ||
| double limit; | ||
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| spindleIniFile->EnableExceptions(EmcIniFile::ERR_CONVERSION); | ||
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| if (spindleIniFile->Find(&num_spindles, "SPINDLES", "TRAJ") < 0){ | ||
| num_spindles = 1; } | ||
| if (spindle > num_spindles) return -1; | ||
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| snprintf(spindleString, sizeof(spindleString), "SPINDLE_%i", spindle); | ||
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| // set max positive speed limit | ||
| if (spindleIniFile->Find(&limit, "MAX_VELOCITY", spindleString) == 0){ | ||
| max_pos = limit; | ||
| min_neg = limit; | ||
| } | ||
| // set min positive speed limit | ||
| if (spindleIniFile->Find(&limit, "MIN_VELOCITY", spindleString) == 0){ | ||
| min_pos = limit; | ||
| max_neg = limit; | ||
| } | ||
| // set min negative speed limit | ||
| if (spindleIniFile->Find(&limit, "MIN_REVERSE_VELOCITY", spindleString) == 0){ | ||
| max_neg = -1.0 * fabs(limit); | ||
| } | ||
| // set max negative speed limit | ||
| if (spindleIniFile->Find(&limit, "MAX_REVERSE_VELOCITY", spindleString) == 0){ | ||
| min_neg = -1.0 * fabs(limit); | ||
| } | ||
| // set home sequence | ||
| if (spindleIniFile->Find(&limit, "HOME_SEQUENCE", spindleString) == 0){ | ||
| home_sequence = (int)limit; | ||
| } | ||
| // set home velocity | ||
| if (spindleIniFile->Find(&limit, "HOME_SEARCH_VELOCITY", spindleString) == 0){ | ||
| search_vel = (int)limit; | ||
| } | ||
| /* set home angle - I believe this is a bad idea - andypugh 30/12/21 | ||
| if (spindleIniFile->Find(&limit, "HOME", spindleString) >= 0){ | ||
| home_angle = (int)limit; | ||
| }*/ | ||
| home_angle = 0; | ||
| // set spindle increment | ||
| if (spindleIniFile->Find(&limit, "INCREMENT", spindleString) == 0){ | ||
| increment = limit; | ||
| } | ||
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| if (0 != emcSpindleSetParams(spindle, max_pos, min_pos, max_neg, | ||
| min_neg, search_vel, home_angle, home_sequence, increment)) { | ||
| return -1; | ||
| } | ||
| return 0; | ||
| } | ||
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| /* | ||
| iniAxis(int axis, const char *filename) | ||
| Loads ini file parameters for specified axis, [0 .. AXES - 1] | ||
| */ | ||
| int iniSpindle(int spindle, const char *filename) | ||
| { | ||
| EmcIniFile spindleIniFile(EmcIniFile::ERR_TAG_NOT_FOUND | | ||
| EmcIniFile::ERR_SECTION_NOT_FOUND | | ||
| EmcIniFile::ERR_CONVERSION); | ||
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| if (spindleIniFile.Open(filename) == false) { | ||
| return -1; | ||
| } | ||
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| // load its values | ||
| if (0 != loadSpindle(spindle, &spindleIniFile)) { | ||
| return -1; | ||
| } | ||
| return 0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,22 @@ | ||
| /******************************************************************** | ||
| * Description: inispindle.hh | ||
| * | ||
| * Derived from a work by Fred Proctor & Will Shackleford | ||
| * | ||
| * Author: | ||
| * License: GPL Version 2 | ||
| * System: Linux | ||
| * | ||
| * Copyright (c) 2021 All rights reserved. | ||
| * | ||
| * Last change: file created by andypugh 30/12/21 | ||
| ********************************************************************/ | ||
| #ifndef INISPINDLE_HH | ||
| #define INISPINDLE_HH | ||
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| #include "emc.hh" // EMC_AXIS_STAT | ||
|
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| /* initializes spindle modules from ini file */ | ||
| extern int iniSpindle(int spindle, const char *filename); | ||
|
|
||
| #endif |
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