Initialisation

Overview

This group defines all required functions to initialize a correct communication to neMESYS Bus and to a certain device.

Collaboration diagram for Initialisation:

Functions
long	NemDevInit (struct CsiBus *Bus, uint8_t NodeId, TNemesys *Nemesys)
	Initialize neMESYS device object with all parameters This function reads configuration parameters from device and stores the parameters into the device object. More...

Function Documentation

long NemDevInit	(	struct CsiBus *	Bus,
		uint8_t	NodeId,
		TNemesys *	Nemesys
	)

Initialize neMESYS device object with all parameters This function reads configuration parameters from device and stores the parameters into the device object.

After a call to this function all other functions that require a valid device object can be called.

Parameters

[in]	Bus	Reference of bus object the device is attached to
[in]	NodeId	NodeId of dosing unit to initialize
[in]	Nemesys	Reference to device object to initialize

Returns

Error code - ERR_NOERR indicates successfull initialisation

{
    long    Result;
    uint32_t AxisLen;

    Result = CsiDevInit(Bus, NodeId, &Nemesys->Device, CSI_SERIAL_PROTOCOL_V1);
    if (ERR_NOERR != Result)
    {
        return Result;
    }

    Nemesys->LastVelocity      = 0;
    Nemesys->ValveStateDisp = 1;
    
    //
    // Read home offset from device - the home ofset defines the range from
    // home sensor to 0 position.
    //
    Result = Nem_GetHomeOffset(Nemesys, &Nemesys->HomeOffset);
    if (ERR_NOERR != Result)
    {
        return Result;
    }

    //
    // Read device configuration from device
    //
    Result = Nem_GetDevCfg(Nemesys, &Nemesys->DevCfg);
    if (ERR_NOERR != Result)
    {
        return Result;
    }

    //
    // Read axis length from device - the axis length is the length from
    // lower limit sensor to upper limit sensor in encoder increments
    //
    Result = Nem_GetAxisLen(Nemesys, &AxisLen);
    if (ERR_NOERR != Result)
    {
        return Result;
    }

    //
    // Set initial operation mode - teh default mode here is
    // the profile position mode
    //
    Result = Nem_SetOpMode(Nemesys, NEM_OP_MODE_PROFILE_POSITION);
    if (ERR_NOERR != Result)
    {
        return Result;
    }

    //
    // Now calculate the maximum position. The maximum position is the length
    // of the axis minus the offest from lower limit to zero position and
    // minus offset from upper limit to maximum position. The two offsets
    // are the same so we can subtract two times the home offset
    //
    Nemesys->MaxPos = AxisLen - Nemesys->HomeOffset - Nemesys->HomeOffset;

    return Result;
}

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