Initialization and Configuration

Overview

Functions for device initialization and syringe configuration.

Collaboration diagram for Initialization and Configuration:

Functions
long	NemV4DevInit (struct CsiBus *Bus, uint8_t NodeId, TNemesysV4 *Nemesys)
	Initialize Nemesys device object with all parameters. More...
void	NemV4SetSyringe (TNemesysV4 *Nemesys, double InnerSyringeDiameter_mm)
	Configure the syringe that is used for flow and volume unit conversion. More...

Function Documentation

long NemV4DevInit	(	struct CsiBus *	Bus,
		uint8_t	NodeId,
		TNemesysV4 *	Nemesys
	)

Initialize Nemesys device object with all parameters.

This function reads configuration parameters from Nemesys and stores the parameters into the Nemesys object. After a call to this function all other functions that require a valid Nemesys object can be called.

Parameters

Bus	Reference of bus object the Nemesys is attached to
NodeId	NodeId of dosing unit to initialize
Nemesys	Reference to Nemesys object to initialize

Returns

Error code - ERR_NOERR indicates successful initialization

{
    long    Result;
    uint32_t EncoderResolution;
    uint32_t GearNumerator;
    uint32_t GearDenominator;
    uint32_t VelocityUnit;
    int8_t Prefix;
    uint16_t RevDivider;
    double Gear;
    uint32_t AxisConf;

    Result = CsiDevInit(Bus, NodeId, &Nemesys->Device, CSI_SERIAL_PROTOCOL_V2);
    CSI_RETURN_ON_ERROR(Result);

    Nemesys->LastVelocity = 0;
    NemV4SetSyringe(Nemesys, 7.28366);
    
    //
    // Read maximum velocity from device
    //
    Result = CsiDevReadObject(&Nemesys->Device, NemV4_OD_H607F_PROFILE_VELOCITY_MAX,
        0, &Nemesys->MaxVelocity);
    CSI_RETURN_ON_ERROR(Result);

    //
    // Now read the minimum and maximum position values.
    // For the nemesys 4 the position range is from 0 - -xxxxxxxx. So 0 is
    // 0 is the maximum position
    // To avoid spurious errors because the pump is too close to the limits
    // the positions in the pump are a little bit higher than the real
    // positions - a safety margin has been added to both limits. We remove
    // this safety margin from both position limits
    //
    Result = CsiDevReadObject(&Nemesys->Device, NemV4_OD_H607D_SW_POS_LIMITS,
        2, (uint32_t*)&Nemesys->MaxPos);
    CSI_RETURN_ON_ERROR(Result);
    Result = CsiDevReadObject(&Nemesys->Device, NemV4_OD_H607D_SW_POS_LIMITS,
        1, (uint32_t*)&Nemesys->MinPos);
    CSI_RETURN_ON_ERROR(Result);
    int SafetyMargin = Nemesys->MaxPos;
    Nemesys->MaxPos -= SafetyMargin;
    Nemesys->MinPos += SafetyMargin;

    //
    // Now read encoder pulse number from device  - sub index 5
    //
    Result = CsiDevReadObject(&Nemesys->Device, NemV4_OD_H3000_AXIS_CONFIGURATION,
        5, &EncoderResolution);
    CSI_RETURN_ON_ERROR(Result);

    //
    // Now read gear numerator and gear denominator
    //
    Result = CsiDevReadObject(&Nemesys->Device, NemV4_OD_H3003_GEAR_CONFIGURATION,
        1, &GearNumerator);
    CSI_RETURN_ON_ERROR(Result);

    Result = CsiDevReadObject(&Nemesys->Device, NemV4_OD_H3003_GEAR_CONFIGURATION,
        2, &GearDenominator);
    CSI_RETURN_ON_ERROR(Result);

    Gear = (double)GearNumerator / (double)GearDenominator;

    //
    // Now we read the velocity and acceleration notation indices because we
    // need it for proper conversion of speed values into device velocity values
    //
    Result = CsiDevReadObject(&Nemesys->Device, NemV4_OD_H60A9_SI_UNIT_VELOCITY,
        0, &VelocityUnit);
    CSI_RETURN_ON_ERROR(Result);

    Prefix = (VelocityUnit >> 24) & 0xFF;
    RevDivider = (uint16_t) pow((double) 10, abs(Prefix));
    Nemesys->PosUnitsPerRevolution = (double)EncoderResolution * Gear;
    Nemesys->VelUnitsPerRPM = (double)RevDivider * Gear;

    //
    // Now we read the product type from the device.
    // The axis configuration is stored in custom persistent memory.
    // |         Bit 31 - 17      | Bit 16 - 10  | Bit 9 - 4  |   Bit 3 - 0    |
    // |--------------------------+--------------+------------+----------------+
    // |          reserved        | Product Type |  reserved  |  Spindle Slope |
    //
    Result = CsiDevReadObject(&Nemesys->Device, NemV4_OD_H210C_CUSTOM_PERSISTENT_MEM,
        3, &AxisConf);
    CSI_RETURN_ON_ERROR(Result);
    Nemesys->ProductType = (AxisConf >> 10) & 0x7F;

    //
    // Initialize the scaling parameters for the different analog sensors and
    // signals
    //
    Result = NemV4_InitForceScalingParam(Nemesys);
    CSI_RETURN_ON_ERROR(Result);

    Result = NemV4_InitDigOutShadowRegister(Nemesys);
    CSI_RETURN_ON_ERROR(Result);

    //
    // Set initial operation mode - the default mode here is
    // the profile position mode
    //
    Result = NemV4_SetOpMode(Nemesys, NemV4_OP_MODE_PROFILE_POSITION);
    CSI_RETURN_ON_ERROR(Result);


    return ERR_NOERR;
}

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void NemV4SetSyringe	(	TNemesysV4 *	Nemesys,
		double	InnerSyringeDiameter_mm
	)

Configure the syringe that is used for flow and volume unit conversion.

Parameters

	Nemesys	Nemesys device to configure
[in]	InnerSyringeDiameter_mm	The inner syringe diameter in mm

Referenced by NemV4DevInit().

{
    Nemesys->InnerSyringeDiameter_mm = InnerSyringeDiameter_mm;
    Nemesys->InnerSyringeArea_mm2 = M_PI * pow(Nemesys->InnerSyringeDiameter_mm, 2) / 4;
}