Data Structures | Macros | Typedefs | Enumerations | Functions
nem4_rs232_api.c File Reference

Application programming interface for control of Nemesys via RS232. More...

#include "csi_types.h"
#include <math.h>
#include "nem4_rs232_api.h"
#include <stdio.h>
+ Include dependency graph for nem4_rs232_api.c:

Data Structures

struct  TwoPointScaling
 The two points for a two point scaling. More...
 

Macros

#define CWBIT_FAULT_RESET   0x0080
 controlword bit fault reset
 
#define CWBIT_HALT   0x0100
 controlword bit halt
 
#define CWBIT_HOMING_START   0x0010
 controlword bit start homing move
 
#define CWBIT_IMMEDIATELY   0x0020
 change set immediately
 
#define CWBIT_NEW_SET_POINT   0x0010
 new set point
 
#define CWBIT_OP_EN   0x0008
 controlword bit operation enabled
 
#define CWBIT_QUICK_STOP   0x0004
 controlword bit quick stop
 
#define CWBIT_RELATIVE   0x0040
 target position is an relative value
 
#define CWBIT_SWON   0x0001
 controlword bit switch on
 
#define CWBIT_VOLT_EN   0x0002
 controlword bit voltage enabled
 
#define DRV_PROC_TIME   10
 processing time
 
#define STATE_IS_FAULT(_wState_)   (((_wState_) & 0x004F) == SW_FAULT)
 Checks if state is fault.
 
#define STATE_IS_FAULT_REAC(_wState_)   (((_wState_) & 0x004F) == SW_FAULT_REAC)
 Checks if state is fault reaction active.
 
#define STATE_IS_OP_EN(_wState_)   (((_wState_) & 0x006F) == SW_OP_EN)
 Checks if state is operation enabled.
 
#define STATE_IS_QUICK_STOP(_wState_)   (((_wState_) & 0x006F) == SW_QUICK_STOP)
 Checks if state is quick stop.
 
#define STATE_IS_SWON(_wState_)   (((_wState_) & 0x006F) == SW_SWON)
 Checks if state is switch on.
 
#define STATE_IS_SWON_DIS(_wState_)   (((_wState_) & 0x004F) == SW_SWON_DIS)
 Checks if state is disabled.
 
#define STATE_IS_SWON_NOT_RDY(_wState_)   (((_wState_) & 0x004F) == SW_SWON_NOT_RDY)
 Checks if state is not ready to witch on.
 
#define STATE_IS_SWON_RDY(_wState_)   (((_wState_) & 0x006F) == SW_SWON_RDY)
 Checks if state is ready to switch on.
 
#define SWBIT_FAULT   0x0008
 fault
 
#define SWBIT_INT_LIM   0x0800
 internal limit active
 
#define SWBIT_OP_EN   0x0004
 operation enabled
 
#define SWBIT_QUICK_STOP   0x0020
 quick stop
 
#define SWBIT_REMOTE   0x0200
 remote
 
#define SWBIT_SWON   0x0002
 switched on
 
#define SWBIT_SWON_DIS   0x0040
 switch on disabled
 
#define SWBIT_SWON_RDY   0x0001
 ready to switch on
 
#define SWBIT_TARG_REACHED   0x0400
 target reached
 
#define SWBIT_VOLT_EN   0x0010
 voltage enabled
 
#define SWBIT_WARNING   0x0080
 warning
 

Typedefs

typedef enum eCtrlWord TCtrlWord
 Control words of object dictionary entry OD_H6040_CTRL_WORD.
 
typedef enum eDigOutPurpose TDigOutPurpose
 

EPOS sepecific purpose of digital outputs

 
typedef enum eErrHistSub TErrHistSub
 Error history sub indexes.
 
typedef enum eNemObjDicEntries TNemObjDicEntries
 Object dictionary entries.
 
typedef enum eNemOpModes TNemOpModes
 Enumeration of Nemesys deviceoperation modes.
 
typedef struct TwoPointScaling TNemTwoPointScaling
 The two points for a two point scaling.
 
typedef enum eStatusWord TStatusWord
 Status words of object dictionary entry OD_H6041_STATUS_WORD.
 

Enumerations

enum  eCtrlWord {
  CW_SHUTDOWN = 0x06, CW_SWON = 0x07, CW_VOLT_DIS = 0x00, CW_QUICK_STOP = 0x02,
  CW_OP_DIS = 0x07, CW_OP_EN = 0x0F, CW_FAULT_RST = 0x80, CW_UNDEFINED = 0xFF,
  CW_SHUTDOWN = 0x06, CW_SWON = 0x07, CW_VOLT_DIS = 0x00, CW_QUICK_STOP = 0x02,
  CW_OP_DIS = 0x07, CW_OP_EN = 0x0F, CW_FAULT_RST = 0x80, CW_UNDEFINED = 0xFF
}
 Control words of object dictionary entry OD_H6040_CTRL_WORD. More...
 
enum  eDigOutPurpose {
  DIG_OUT_GENERAL_PURPOSE_A = 0x010000, DIG_OUT_GENERAL_PURPOSE_B = 0x100000, DIG_OUT_GENERAL_PURPOSE_A = 0x8000, DIG_OUT_GENERAL_PURPOSE_B = 0x4000,
  DIG_OUT_GENERAL_PURPOSE_C = 0x2000, DIG_OUT_GENERAL_PURPOSE_D = 0x1000
}
 

EPOS sepecific purpose of digital outputs

 
enum  eErrHistSub { H1003_SUB_01_NUMBER_OF_ERR = 0, H1003_SUB_01_ERR_IDX_1 = 1, H1003_SUB_01_NUMBER_OF_ERR = 0, H1003_SUB_01_ERR_IDX_1 = 1 }
 Error history sub indexes.
 
enum  eNemObjDicEntries {
  NemV4_OD_H1003_ERROR_HISTORY = 0x1003, NemV4_OD_H210C_CUSTOM_PERSISTENT_MEM = 0x210C, NemV4_OD_H3000_AXIS_CONFIGURATION = 0x3000, NemV4_OD_H3003_GEAR_CONFIGURATION = 0x3003,
  NemV4_OD_H3141_DIG_INPUTS_PROPERTIES = 0x3141, NemV4_OD_H3160_ANALOG_INPUT = 0x3160, NemV4_OD_H3182_ANALOG_OUT = 0x3182, NemV4_OD_H6040_CTRL_WORD = 0x6040,
  NemV4_OD_H6041_STATUS_WORD = 0x6041, NemV4_OD_H6060_OP_MODE = 0x6060, NemV4_OD_H6064_ACTUAL_POSITION = 0x6064, NemV4_OD_H606B_VELOCITY_DEMAND = 0x606B,
  NemV4_OD_H607A_TARGET_POSITION = 0x607A, NemV4_OD_H607D_SW_POS_LIMITS = 0x607D, NemV4_OD_H607F_PROFILE_VELOCITY_MAX = 0x607F, NemV4_OD_H6081_PROFILE_VELOCITY = 0x6081,
  NemV4_OD_H60A9_SI_UNIT_VELOCITY = 0x60A9, NemV4_OD_H60AA_SI_UNIT_ACCELERATION = 0x60AA, NemV4_OD_H60FD_DIGITAL_INPUTS = 0x60FD, NemV4_OD_H60FE_DIG_OUT = 0x60FE,
  NEM_OD_H1003_ERROR_HISTORY = 0x1003, NEM_OD_H200C_CUSTOM_PERSISTENT_MEM = 0x200C, NEM_OD_H2078_DIGITAL_OUT_FUNC = 0x2078, NEM_OD_H2081_HOME_POSITION = 0x2081,
  NEM_OD_H6040_CTRL_WORD = 0x6040, NEM_OD_H6041_STATUS_WORD = 0x6041, NEM_OD_H6060_OP_MODE = 0x6060, NEM_OD_H6064_ACTUAL_POSITION = 0x6064,
  NEM_OD_H606B_VELOCITY_DEMAND = 0x606B, NEM_OD_H607A_TARGET_POSITION = 0x607A, NEM_OD_H607C_HOME_OFFSET = 0x607C, NEM_OD_H6081_PROFILE_VELOCITY = 0x6081,
  NEM_OD_H6098_HOMING_METHOD = 0x6098, NEM_OD_H6099_HOMING_SPEEDS = 0x6099
}
 Object dictionary entries.
 
enum  eNemOpModes { NemV4_OP_MODE_PROFILE_POSITION = 1, NemV4_OP_MODE_HOMING = 6, NEM_OP_MODE_PROFILE_POSITION = 1, NEM_OP_MODE_HOMING = 6 }
 Enumeration of Nemesys deviceoperation modes. More...
 
enum  eStatusWord {
  SW_SWON_NOT_RDY = 0x00, SW_SWON_DIS = 0x40, SW_SWON_RDY = 0x21, SW_SWON = 0x23,
  SW_OP_EN = 0x27, SW_QUICK_STOP = 0x07, SW_FAULT_REAC = 0x0F, SW_FAULT = 0x08,
  SW_UNDEFINED = 0xFF, SW_SWON_NOT_RDY = 0x00, SW_SWON_DIS = 0x40, SW_SWON_RDY = 0x21,
  SW_SWON = 0x23, SW_OP_EN = 0x27, SW_QUICK_STOP = 0x07, SW_FAULT_REAC = 0x0F,
  SW_FAULT = 0x08, SW_UNDEFINED = 0xFF
}
 Status words of object dictionary entry OD_H6041_STATUS_WORD. More...
 

Functions

static long NemV4_ClearErrHist (TNemesysV4 *Nemesys)
 Clears the device error history and error register. More...
 
static long NemV4_ExecDrvStateCmd (TNemesysV4 *Nemesys, uint16_t wCmd, uint16_t *pwState, uint16_t wProcessTime)
 Execute one single drive state command. More...
 
static long NemV4_InitDigOutShadowRegister (TNemesysV4 *Nemesys)
 
static long NemV4_InitForceScalingParam (TNemesysV4 *Nemesys)
 
static long NemV4_IsState (TNemesysV4 *Nemesys, uint16_t wMask, uint16_t wState, uint8_t *pResult)
 Test the status word for a certain bit pattern. More...
 
static long NemV4_SetControlWord (TNemesysV4 *Nemesys, uint16_t wControlWord)
 Transmits the controlword to the device. More...
 
static long NemV4_SetOpMode (TNemesysV4 *Nemesys, TNemOpModes OpMode)
 Change operation mode of Nemesys device. More...
 
long NemV4ClearFault (TNemesysV4 *Nemesys)
 Clear fault state of Nemesys. More...
 
double NemV4DevicePosToMicrolitres (TNemesysV4 *Nemesys, int32_t Pos)
 Converts a device position in inc. More...
 
double NemV4DevicePosToMillimetres (TNemesysV4 *Nemesys, int32_t Pos)
 Convert device position in increments into position in mm. More...
 
double NemV4DeviceVelToMicrolitresPerMinute (TNemesysV4 *Nemesys, int32_t Velocity)
 Converts a device velocity (likely in mrpm) in a flow rate in ul/min using the configured syringe parameters. More...
 
double NemV4DeviceVelToMillimetresPerMinute (TNemesysV4 *Nemesys, int32_t Velocity)
 Converts a device velocity in device units (likely mrprm) into mm/min. More...
 
long NemV4DevInit (struct CsiBus *Bus, uint8_t NodeId, TNemesysV4 *Nemesys)
 Initialize Nemesys device object with all parameters. More...
 
long NemV4DoseVolume (TNemesysV4 *Nemesys, double Volume_ul, double Flow_ul_min)
 Dose a certain volume with a certain flow rate. More...
 
long NemV4EnableForceMonitoring (TNemesysV4 *Nemesys, int Enable)
 Enable / Disable force monitoring functionality. More...
 
long NemV4GenerateFlow (TNemesysV4 *Nemesys, double Flow_ul_min)
 Generate a constant flow until syringe is empty or full. More...
 
long NemV4GetCurrentFlow (TNemesysV4 *Nemesys, double *Flow_ul_min)
 Returns the current flow in ul / min. More...
 
long NemV4GetCurrentVelocity (TNemesysV4 *Nemesys, int32_t *Velocity)
 Read the actual velocity from the Nemesys. More...
 
long NemV4GetLastDevErr (TNemesysV4 *Nemesys, int32_t *pLastDevErr)
 Read last Nemesys error from error register. More...
 
long NemV4GetMaxFlow (TNemesysV4 *Nemesys, double *Flow_ul_min)
 Returns the maximum flow in ul / min. More...
 
long NemV4GetMaxSyringeLevel (TNemesysV4 *Nemesys, double *Level_ul)
 Returns the maximum syringe level in µl. More...
 
long NemV4GetPosIs (TNemesysV4 *Nemesys, int32_t *PosIs)
 Reads the actual position from the Nemesys. More...
 
long NemV4GetSyringeLevel (TNemesysV4 *Nemesys, double *Level_ul)
 Returns the current syringe level in µl. More...
 
uint32_t NemV4IsEnabled (TNemesysV4 *Nemesys)
 Check if Nemesys is in enabled state. More...
 
uint32_t NemV4IsInFaultState (TNemesysV4 *Nemesys)
 Query fault state of Nemesys pump drive. More...
 
long NemV4IsSafetyStopActive (TNemesysV4 *Nemesys)
 Reads the safety stop input. More...
 
long NemV4IsStopped (TNemesysV4 *Nemesys)
 Checks if a dosing unit is moving or stopped. More...
 
int32_t NemV4MicrolitresPerMinuteToDeviceVel (TNemesysV4 *Nemesys, double ul_min)
 Converts a flow rate in ul/min into a device velocity (likely in mrpm). More...
 
int32_t NemV4MicrolitresToDevicePos (TNemesysV4 *Nemesys, double ul)
 Converts a volume in microliters into a device position in increments using the configred syronge parameters. More...
 
int32_t NemV4MillimetresPerMinuteToDeviceVel (TNemesysV4 *Nemesys, double mm_min)
 Converts a velocity in mm/min into a device velocity (likely mrpm). More...
 
int32_t NemV4MillimetresToDevicePos (TNemesysV4 *Nemesys, double mm)
 Converts a position in mm into a device position in inc. More...
 
long NemV4MoveDistance (TNemesysV4 *Nemesys, int32_t Distance, uint32_t Velocity)
 Moves the pusher a certain distance from the current position. More...
 
long NemV4MoveToPos (TNemesysV4 *Nemesys, int32_t dwPosAbs, uint32_t dwVelocity)
 Move pusher to a certain position. More...
 
long NemV4MoveWithVelocity (TNemesysV4 *Nemesys, int32_t Velocity)
 Moves the syringe pusher with the given velocity. More...
 
long NemV4ReadAnalogInput (TNemesysV4 *Nemesys, enum eNemV4AnalogInput Input, int16_t *Value_mV)
 Reads the analog input value of the given Input and returns it in Value_mV. More...
 
long NemV4ReadDigitalInput (TNemesysV4 *Nemesys, enum eNemV4DigitalInput Input)
 Reads the state of one single digital input. More...
 
long NemV4ReadDigitalInputs (TNemesysV4 *Nemesys, uint32_t *Inputs)
 Reads all 4 digital inputs from the device and returns the inputs bitmask in Inputs. More...
 
long NemV4ReadForceSensor (TNemesysV4 *Nemesys, float *Force_kN)
 Reads the internal force sensor value scaled to kN. More...
 
long NemV4ReadStatusWord (TNemesysV4 *Nemesys, uint16_t *pwStatusWord)
 Read status word from Nemesys. More...
 
long NemV4SetEnabled (TNemesysV4 *Nemesys)
 Set single dosing unit into enable state. More...
 
void NemV4SetSyringe (TNemesysV4 *Nemesys, double InnerSyringeDiameter_mm)
 Configure the syringe that is used for flow and volume unit conversion. More...
 
long NemV4SetSyringeLevel (TNemesysV4 *Nemesys, double Level_ul, double Flow_ul_min)
 Set syringe to a certain fill level. More...
 
long NemV4Stop (TNemesysV4 *Nemesys)
 Stops the current dosing move. More...
 
long NemV4SwitchValve (TNemesysV4 *Nemesys, uint8_t ValvePosition)
 Switches a valve connected to the Nemesys I/O connector to a given position. More...
 
long NemV4WriteDigitalOutput (TNemesysV4 *Nemesys, enum eNemV4DigitalOutput Output, uint8_t On)
 Switches one single digital output channel on/off. More...
 
long NemV4WriteDigitalOutputs (TNemesysV4 *Nemesys, uint32_t OutputMask, uint32_t States)
 Switches the given digital outputs on/off. More...
 
long NemV4WriteForceLimit (TNemesysV4 *Nemesys, float ForceLimit_kN)
 Sets a custom force limit. More...
 

Detailed Description

Application programming interface for control of Nemesys via RS232.

Author
Uwe Kindler (UK)
Date
2019/03/12

Enumeration Type Documentation

enum eCtrlWord

Control words of object dictionary entry OD_H6040_CTRL_WORD.

Enumerator
CW_SHUTDOWN 

shutdown drive

CW_SWON 

switch on

CW_VOLT_DIS 

disable voltage

CW_QUICK_STOP 

perform quick stop

CW_OP_DIS 

disable operation

CW_OP_EN 

set device operational

CW_FAULT_RST 

reset device from fault state

CW_SHUTDOWN 

shutdown drive

CW_SWON 

switch on

CW_VOLT_DIS 

disable voltage

CW_QUICK_STOP 

perform quick stop

CW_OP_DIS 

disable operation

CW_OP_EN 

set device operational

CW_FAULT_RST 

reset device from fault state

130 {
131  CW_SHUTDOWN = 0x06, ///< shutdown drive
132  CW_SWON = 0x07, ///< switch on
133  CW_VOLT_DIS = 0x00, ///< disable voltage
134  CW_QUICK_STOP = 0x02, ///< perform quick stop
135  CW_OP_DIS = 0x07, ///< disable operation
136  CW_OP_EN = 0x0F, ///< set device operational
137  CW_FAULT_RST = 0x80, ///< reset device from fault state
138  CW_UNDEFINED = 0xFF
139 } TCtrlWord;
TCtrlWord
enum eCtrlWord TCtrlWord
Control words of object dictionary entry OD_H6040_CTRL_WORD.
CW_SWON
switch on
Definition: nem4_rs232_api.c:132
CW_OP_EN
set device operational
Definition: nem4_rs232_api.c:136
CW_SHUTDOWN
shutdown drive
Definition: nem4_rs232_api.c:131
CW_QUICK_STOP
perform quick stop
Definition: nem4_rs232_api.c:134
CW_FAULT_RST
reset device from fault state
Definition: nem4_rs232_api.c:137
CW_VOLT_DIS
disable voltage
Definition: nem4_rs232_api.c:133
CW_OP_DIS
disable operation
Definition: nem4_rs232_api.c:135
enum eNemOpModes

Enumeration of Nemesys deviceoperation modes.

Enumerator
NemV4_OP_MODE_PROFILE_POSITION 

profile psoition mode - required for any dosing task

NemV4_OP_MODE_HOMING 

homing mode - required for calibration and position counter stting

NEM_OP_MODE_PROFILE_POSITION 

profile psoition mode - required for any dosing task

NEM_OP_MODE_HOMING 

homing mode - required for calibration and position counter stting

80 {
81  NemV4_OP_MODE_PROFILE_POSITION = 1, ///< profile psoition mode - required for any dosing task
82  NemV4_OP_MODE_HOMING = 6, ///< homing mode - required for calibration and position counter stting
83 } TNemOpModes;
NemV4_OP_MODE_HOMING
homing mode - required for calibration and position counter stting
Definition: nem4_rs232_api.c:82
TNemOpModes
enum eNemOpModes TNemOpModes
Enumeration of Nemesys deviceoperation modes.
NemV4_OP_MODE_PROFILE_POSITION
profile psoition mode - required for any dosing task
Definition: nem4_rs232_api.c:81
enum eStatusWord

Status words of object dictionary entry OD_H6041_STATUS_WORD.

Enumerator
SW_SWON_NOT_RDY 

not ready to switch on

SW_SWON_DIS 

switch on disabled

SW_SWON_RDY 

ready to switch on

SW_SWON 

switched on

SW_OP_EN 

operation enabled

SW_QUICK_STOP 

quick stop active

SW_FAULT_REAC 

fault reaction active

SW_FAULT 

fault

SW_UNDEFINED 

undefined state

SW_SWON_NOT_RDY 

not ready to switch on

SW_SWON_DIS 

switch on disabled

SW_SWON_RDY 

ready to switch on

SW_SWON 

switched on

SW_OP_EN 

operation enabled

SW_QUICK_STOP 

quick stop active

SW_FAULT_REAC 

fault reaction active

SW_FAULT 

fault

SW_UNDEFINED 

undefined state

146 {
147  SW_SWON_NOT_RDY = 0x00, ///< not ready to switch on
148  SW_SWON_DIS = 0x40, ///< switch on disabled
149  SW_SWON_RDY = 0x21, ///< ready to switch on
150  SW_SWON = 0x23, ///< switched on
151  SW_OP_EN = 0x27, ///< operation enabled
152  SW_QUICK_STOP = 0x07, ///< quick stop active
153  SW_FAULT_REAC = 0x0F, ///< fault reaction active
154  SW_FAULT = 0x08, ///< fault
155  SW_UNDEFINED = 0xFF ///< undefined state
156 } TStatusWord;
SW_UNDEFINED
undefined state
Definition: nem4_rs232_api.c:155
SW_SWON_NOT_RDY
not ready to switch on
Definition: nem4_rs232_api.c:147
SW_FAULT_REAC
fault reaction active
Definition: nem4_rs232_api.c:153
SW_SWON_DIS
switch on disabled
Definition: nem4_rs232_api.c:148
SW_SWON_RDY
ready to switch on
Definition: nem4_rs232_api.c:149
TStatusWord
enum eStatusWord TStatusWord
Status words of object dictionary entry OD_H6041_STATUS_WORD.
SW_SWON
switched on
Definition: nem4_rs232_api.c:150
SW_QUICK_STOP
quick stop active
Definition: nem4_rs232_api.c:152
SW_FAULT
fault
Definition: nem4_rs232_api.c:154
SW_OP_EN
operation enabled
Definition: nem4_rs232_api.c:151

Function Documentation

static long NemV4_ClearErrHist ( TNemesysV4 *  Nemesys)
static

Clears the device error history and error register.

The device keeps track of the errors that occured with an internal error history. The function NemV4ClerFault() calls this function to clear the error history.

Parameters
[in]NemesysThe device to change
Returns
Error code - ERR_NOERR indicates success

Referenced by NemV4ClearFault().

1088 {
1089  return CsiDevWriteObject(&Nemesys->Device, NemV4_OD_H1003_ERROR_HISTORY,
1090  H1003_SUB_01_NUMBER_OF_ERR, 0);
1091 }
stNemesysV4::Device
struct CsiDev Device
CSI device object.
Definition: nem4_rs232_api.h:107
CsiDevWriteObject
long CsiDevWriteObject(struct CsiDev *pDev, uint16_t ObjDicIdx, uint8_t ObjDicSub, uint32_t TxDWord)
This function writes up to 4 bytes of data into device object dictionary.
Definition: csi_dev.c:188

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long NemV4_ExecDrvStateCmd ( TNemesysV4 *  Nemesys,
uint16_t  wCmd,
uint16_t *  pwState,
uint16_t  wProcessTime 
)
static

Execute one single drive state command.

The function excutes one drive state command, waits a certain amount of time for the drive to process the command (wProcessTime) and then reads the statusword of the device and returns it to the application.

Parameters
[in]NemesysThe device to query
[in]wCmdThe command to execute
[out]pwStateState of the devcie after execution of the command in wCmd
[in]wProcessTimeTime between sending the command and reading the status
Returns
Error code - ERR_NOERR indicates success

Referenced by NemV4SetEnabled().

569 {
570  long Result;
571 
572  Result = NemV4_SetControlWord(Nemesys, wCmd);
573  if (Result != ERR_NOERR)
574  {
575  return Result;
576  }
577 
578  if (wProcessTimeMs)
579  {
580  CsiSleep(wProcessTimeMs); // give drive some time to process cmd
581  }
582 
583  return NemV4ReadStatusWord(Nemesys, pwState);
584 }
NemV4ReadStatusWord
long NemV4ReadStatusWord(TNemesysV4 *Nemesys, uint16_t *pwStatusWord)
Read status word from Nemesys.
Definition: nem4_rs232_api.c:679
ERR_NOERR
#define ERR_NOERR
No error.
Definition: err_codes.h:102
NemV4_SetControlWord
static long NemV4_SetControlWord(TNemesysV4 *Nemesys, uint16_t wControlWord)
Transmits the controlword to the device.
Definition: nem4_rs232_api.c:669
CsiSleep
CSI_API void CsiSleep(uint32_t Milliseconds)
Function to sleep for a certain amount of milliseconds.
Definition: csi_common.c:30

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static long NemV4_IsState ( TNemesysV4 *  Nemesys,
uint16_t  wMask,
uint16_t  wState,
uint8_t *  pResult 
)
static

Test the status word for a certain bit pattern.

The function applies the mask to the status word and checks if the masked statusword matches the bitpattern in state.

Parameters
[in]NemesysThe device to query
[in]wMaskThe bitmask to apply to device statusword
[in]wStateThe state bitmask to check
[out]pResultResult of the test (0 = false, 1 = true)
Returns
Error code - ERR_NOERR indicates success

Referenced by NemV4IsEnabled(), NemV4IsInFaultState(), and NemV4IsStopped().

709 {
710  long Result;
711  uint16_t StatusWord;
712 
713  Result = NemV4ReadStatusWord(Nemesys, &StatusWord);
714 
715  if ((StatusWord & wMask) == wState)
716  {
717  *pResult = 1;
718  }
719  else
720  {
721  *pResult = 0;
722  }
723 
724  return Result;
725 }
NemV4ReadStatusWord
long NemV4ReadStatusWord(TNemesysV4 *Nemesys, uint16_t *pwStatusWord)
Read status word from Nemesys.
Definition: nem4_rs232_api.c:679

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static long NemV4_SetControlWord ( TNemesysV4 *  Nemesys,
uint16_t  wControlWord 
)
static

Transmits the controlword to the device.

Call this function to change th controlword.

Parameters
[in]NemesysThe device to change
[in]wControlWordThe new controlword to store into device
Returns
Error code - ERR_NOERR indicates success
See also
NemV4Calibrate(), NemV4_SetHomingSpeed(), NemV4_SetHomingMode()

Referenced by NemV4_ExecDrvStateCmd(), NemV4ClearFault(), NemV4MoveToPos(), and NemV4Stop().

670 {
671  uint32_t controlword = wControlWord;
672  return CsiDevWriteObject(&Nemesys->Device, NemV4_OD_H6040_CTRL_WORD, 0, controlword);
673 }
stNemesysV4::Device
struct CsiDev Device
CSI device object.
Definition: nem4_rs232_api.h:107
CsiDevWriteObject
long CsiDevWriteObject(struct CsiDev *pDev, uint16_t ObjDicIdx, uint8_t ObjDicSub, uint32_t TxDWord)
This function writes up to 4 bytes of data into device object dictionary.
Definition: csi_dev.c:188

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static long NemV4_SetOpMode ( TNemesysV4 *  Nemesys,
TNemOpModes  OpMode 
)
static

Change operation mode of Nemesys device.

A Nemesys device can operate in two different operation modes. During normal dosing the device works in profile position mode (NEM_OP_MODE_PROFILE_POSITION). During calibration the device is in homing mode (NEM_OP_MODE_HOMING).

Parameters
[in]NemesysThe device to change
[in]OpModeThe new operation mode to set
Returns
Error code - ERR_NOERR indicates success

Referenced by NemV4DevInit(), and NemV4MoveToPos().

651 {
652  long Result;
653  uint32_t dwOpMode = OpMode;
654 
655  Result = CsiDevWriteObject(&Nemesys->Device, NemV4_OD_H6060_OP_MODE, 0, dwOpMode);
656  if (Result != ERR_NOERR)
657  {
658  return Result;
659  }
660 
661  Nemesys->OpMode = OpMode; // stroe operation mode in shadow buffer
662  return Result;
663 }
stNemesysV4::Device
struct CsiDev Device
CSI device object.
Definition: nem4_rs232_api.h:107
CsiDevWriteObject
long CsiDevWriteObject(struct CsiDev *pDev, uint16_t ObjDicIdx, uint8_t ObjDicSub, uint32_t TxDWord)
This function writes up to 4 bytes of data into device object dictionary.
Definition: csi_dev.c:188
stNemesysV4::OpMode
uint8_t OpMode
buffers operation mode
Definition: nem4_rs232_api.h:111
ERR_NOERR
#define ERR_NOERR
No error.
Definition: err_codes.h:102

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