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motion.c File Reference

#include "motion.h"
#include "bppio.h"
#include "bppimpl.h"

Go to the source code of this file.

Defines
#define	DBUGMESS(N, PRINTARGS)
#define	DBUGPERR(ERR, MESS)   if (ERR) perror(MESS)
Functions
void	showreg (int fd)
int	openstage (ptraject stage, const char *path)
int	closestage (ptraject stage)
void	disposestage (ptraject stage)
int	movestage (ptraject stage, pmotion motn)
int	findstage (ptraject stage, pmotion motn)
ptraject	newxystage (void)
int	moveto (ptranslation state, pmotion goal)
int	where (ptranslation state, pmotion here)
int	start (int fd, ptranslation state, pthread_attr_t *ptattr)
int	stop (ptranslation state)

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Define Documentation

#define DBUGMESS (  N, PRINTARGS    )

Definition at line 15 of file motion.c. Referenced by closestage, findstage, movestage, moveto, openstage, start, stop, and where.

#define DBUGPERR (  ERR, MESS    )     if (ERR) perror(MESS)

Definition at line 16 of file motion.c.

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Function Documentation

int closestage (  ptraject    stage )

Definition at line 84 of file motion.c. References Traject::axis, DBUGMESS, err, Traject::filedescr, Traject::naxes, and stop.

void disposestage (  ptraject    stage )

Definition at line 106 of file motion.c. References Traject::axis, and Traject::tattr.

int findstage (  ptraject    stage, pmotion    motn )

Definition at line 136 of file motion.c. References Traject::axis, DBUGMESS, err, Translation::label, Traject::naxes, and where.

int movestage (  ptraject    stage, pmotion    motn )

Definition at line 113 of file motion.c. References Traject::axis, DBUGMESS, err, Translation::label, moveto, and Traject::naxes.

int moveto (  ptranslation    state, pmotion    goal )

Definition at line 294 of file motion.c. References Translation::attract, DBUGMESS, err, Translation::goalpos, Translation::goalvel, Translation::label, Translation::modlock, Translation::offtrack, Translation::ontrack, Translation::pos, Motion::pos, Motion::relative, Translation::scale, Translation::vel, and Motion::vel.

ptraject newxystage (  void    )

Definition at line 159 of file motion.c. References Traject::axis, Translation::backlash, err, Translation::goalpos, Translation::goalvel, Translation::label, malloc, Translation::maxlash, Traject::naxes, Translation::pos, Translation::step, Traject::tattr, and Translation::vel. Referenced by StageMotion_Open_Cmd.

int openstage (  ptraject    stage, const char *    path )

Definition at line 61 of file motion.c. References Traject::axis, DBUGMESS, err, Traject::filedescr, Traject::naxes, start, and Traject::tattr.

void showreg (  int    fd )

Definition at line 41 of file motion.c. References BPPIOC_GETREGS, bpp_reg::data, bpp_reg::dma_addr, bpp_reg::dma_bcnt, bpp_reg::dma_csr, bpp_reg::dma_tst_csr, err, fd, bpp_reg::hw_config, bpp_reg::in_pins, bpp_reg::int_cntl, bpp_reg::op_config, bpp_reg::out_pins, and bpp_reg::trans_cntl.

int start (  int    fd, ptranslation    state, pthread_attr_t *    ptattr )

Definition at line 441 of file motion.c. References DBUGMESS, Translation::device, err, fd, Translation::label, Translation::modlock, Translation::offtrack, Translation::ontrack, and Translation::tid.

int stop (  ptranslation    state )

Definition at line 475 of file motion.c. References DBUGMESS, err, Translation::goalpos, Translation::goalvel, Translation::label, Translation::modlock, Translation::offtrack, Translation::ontrack, Translation::pos, Translation::tid, and Translation::vel.

int where (  ptranslation    state, pmotion    here )

Definition at line 335 of file motion.c. References DBUGMESS, err, Translation::goalpos, Translation::goalvel, Translation::label, Translation::modlock, Translation::ontrack, Motion::pos, Translation::pos, Motion::vel, and Translation::vel.

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