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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)


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.


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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