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

#include "nem_rs232_api.h"

Include dependency graph for nem_rs232_api.c:

Macros
#define	CFGBIT_NEW_CONFIG (1 << 31)
	if bit 31 is set, then this device contains a new configuration

#define	CFGBIT_VALVE_INSTALLED 0x200
	test bit for valve for old configuration word

#define	CFGBIT_VALVE_INSTALLED_NEW 0x01
	test bit for valve for new configuration word

#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_HOMING_ATTAINED 0x1000
	homing position attained

#define	SWBIT_HOMING_ERROR 0x2000
	homing error occured

#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 eCustMemId	TCustMemId
	Object dictionary sub indexes of OD_H200C_CUST_PERSISTENT_MEM The custom memory in EPOS stores various configuration values.

typedef enum eDigOutFunc	TDigOutFunc
	Digital out functionalities sub index.

typedef enum eDigOutFunction	TDigOutFunction
	Function of digital outputs.

typedef enum eDigOutPurpose	TDigOutPurpose
	EPOS sepecific purpose of digital outputs

typedef enum eErrHistSub	TErrHistSub
	Error history sub indexes.

typedef enum eHomingModes	THomingMode
	Homing methods.

typedef enum eNemObjDicEntries	TNemObjDicEntries
	Object dictionary entries.

typedef enum eNemOpModes	TNemOpModes
	Enumeration of nemesys deviceoperation modes.

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	eCustMemId { CUST_MEM_AXIS_LEN = 2, CUST_MEM_AXIS_CONF = 3 }
	Object dictionary sub indexes of OD_H200C_CUST_PERSISTENT_MEM The custom memory in EPOS stores various configuration values. More...

enum	eDigOutFunc { SUB_01_DIG_OUT_STATE = 1, SUB_02_DIG_OUT_MASK, SUB_03_DIG_OUT_POLARITY }
	Digital out functionalities sub index.

enum	eDigOutFunction { DIG_OUT_VALVE_SWITCH = DIG_OUT_GENERAL_PURPOSE_C, DIG_OUT_VALVE_8V = DIG_OUT_GENERAL_PURPOSE_D }
	Function of digital outputs. 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	eHomingModes { HM_POS_LIM = 18, HM_ACTUAL_POSITION = 35 }
	Homing methods. More...

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	Nem_ClearErrHist (TNemesys *Nemesys)
	Clears the device error history and error register. More...

static long	Nem_ExecDrvStateCmd (TNemesys Nemesys, uint16_t wCmd, uint16_t pwState, uint16_t wProcessTime)
	Execute one single drive state command. More...

static long	Nem_GetAxisLen (TNemesys Nemesys, uint32_t pAxisLen)
	Reads the absolut axis length in increments from device. More...

static long	Nem_GetDevCfg (TNemesys Nemesys, uint32_t NemesysCfg)
	Reads device configuration (gear, encoder spindle slope, valve). More...

static long	Nem_GetHomeOffset (TNemesys Nemesys, int32_t pHomeOffset)
	Read the home ofset from the device. More...

static long	Nem_GetPosIs (TNemesys Nemesys, int32_t pdwPosIs)
	Query actual device position value. More...

static long	Nem_IsState (TNemesys Nemesys, uint16_t wMask, uint16_t wState, uint8_t pResult)
	Test the status word for a certain bit pattern. More...

static long	Nem_MoveToPos (TNemesys *Nemesys, int32_t dwPosAbs, uint32_t dwVelocity)
	Move pusher to a certain position. More...

static long	Nem_SetControlWord (TNemesys *Nemesys, uint16_t wControlWord)
	Transmits the controlword to the device. More...

static long	Nem_SetHomePos (TNemesys *Nemesys, int32_t dwHomePos)
	Set the value of the psotion counter on end of refernce move. More...

static long	Nem_SetHomingMode (TNemesys *Nemesys, THomingMode Mode)
	Change homing mode for refernce move. More...

static long	Nem_SetHomingSpeed (TNemesys *Nemesys, uint32_t Velocity)
	Change speed for calibration move. More...

static long	Nem_SetOpMode (TNemesys *Nemesys, TNemOpModes OpMode)
	Change operation mode of neMESYS device. More...

long	NemCalibrate (TNemesys *Nemesys, uint32_t Velocity)
	Execute reference move (homing move) for single dosing unit. More...

long	NemClearFault (TNemesys *Nemesys)
	Clear fault state of device. More...

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...

long	NemDoseVolume (TNemesys *Nemesys, uint32_t dwVolume, int32_t dwFlowRate)
	Dose a certain volume with a certain flowrate. More...

long	NemGenerateConstantFlow (TNemesys *Nemesys, int32_t FlowRate)
	Generate a constant flow rate. More...

long	NemGetFlowRate (TNemesys Nemesys, int32_t pFlowRate)
	Query actual flow rate of dosing unit. More...

long	NemGetLastDevErr (TNemesys Nemesys, int32_t pLastDevErr)
	Read last device error from error register. More...

long	NemGetSyringeLevel (TNemesys Nemesys, int32_t pSyringeLevel)
	Query actual syringe fill level. More...

long	NemIsCalibrationFinished (TNemesys *Nemesys)
	Checks if a dosing unit finished the calibration move. More...

long	NemIsDosingFinished (TNemesys *Nemesys)
	Checks if a dosing unit finished the last dosing task. More...

uint32_t	NemIsEnabled (TNemesys *Nemesys)
	Check if device is in enabled state. More...

uint32_t	NemIsInFaultState (TNemesys *Nemesys)
	Query fault state of device Check if device is in fault state. More...

uint8_t	NemIsValveInstalled (TNemesys *Nemesys)
	Checks the device configuration if a valve is installed. More...

uint32_t	NemIsValveStateDispense (TNemesys *Nemesys)
	Check if valve is switched to dispense state (output). More...

long	NemReadStatusWord (TNemesys Nemesys, uint16_t pwStatusWord)
	Read status word from device The bits of the statusword indicate the current state of the drive. More...

long	NemRestorePos (TNemesys *Nemesys, int32_t dwPos)
	Restore position value. More...

long	NemSetEnabled (TNemesys *Nemesys)
	Set single dosing unit into enable state. More...

long	NemSetSyringeLevel (TNemesys *Nemesys, uint32_t dwSyringeLevel, uint32_t dwFlowRate)
	Set syringe to a certain fill level. More...

long	NemStop (TNemesys *Nemesys)
	Stops actual dosing move. More...

long	NemSwitchValve (TNemesys *Nemesys, uint8_t SwitchToDispense)
	Switch the integrated three way valve (if one is installed). 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

 {
     CW_SHUTDOWN    = 0x06, ///< shutdown drive
     CW_SWON        = 0x07, ///< switch on
     CW_VOLT_DIS    = 0x00, ///< disable voltage
     CW_QUICK_STOP  = 0x02, ///< perform quick stop
     CW_OP_DIS      = 0x07, ///< disable operation
     CW_OP_EN       = 0x0F, ///< set device operational
     CW_FAULT_RST   = 0x80, ///< reset device from fault state
     CW_UNDEFINED   = 0xFF
 } TCtrlWord;

enum eCustMemId

Object dictionary sub indexes of OD_H200C_CUST_PERSISTENT_MEM The custom memory in EPOS stores various configuration values.

Enumerator
CUST_MEM_AXIS_LEN	axis length in encoder increments
CUST_MEM_AXIS_CONF	axis configuration

 {
     CUST_MEM_AXIS_LEN  = 2, ///< axis length in encoder increments
     CUST_MEM_AXIS_CONF = 3, ///< axis configuration
 } TCustMemId;

enum eDigOutFunction

Function of digital outputs.

Enumerator
DIG_OUT_VALVE_SWITCH	Digital out for switching the valve.
DIG_OUT_VALVE_8V	Digital out for lowering the valve voltage.

 {
     DIG_OUT_VALVE_SWITCH = DIG_OUT_GENERAL_PURPOSE_C,///< Digital out for switching the valve
     DIG_OUT_VALVE_8V = DIG_OUT_GENERAL_PURPOSE_D,    ///< Digital out for lowering the valve voltage
 } TDigOutFunction;

enum eHomingModes

Homing methods.

Enumerator
HM_POS_LIM	Move reference to positive limit switch (calibration)
HM_ACTUAL_POSITION	Take actual position as home position (setting position counter)

 {
     HM_POS_LIM           = 18, ///< Move reference to positive limit switch (calibration) 
     HM_ACTUAL_POSITION   = 35, ///< Take actual position as home position (setting position counter)
 } THomingMode;

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

 {
     NEM_OP_MODE_PROFILE_POSITION = 1, ///< profile psoition mode - required for any dosing task
     NEM_OP_MODE_HOMING           = 6, ///< homing mode - required for calibration and position counter stting
 } TNemOpModes;

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

 {
     SW_SWON_NOT_RDY  = 0x00, ///< not ready to switch on
     SW_SWON_DIS      = 0x40, ///< switch on disabled
     SW_SWON_RDY      = 0x21, ///< ready to switch on
     SW_SWON          = 0x23, ///< switched on
     SW_OP_EN         = 0x27, ///< operation enabled
     SW_QUICK_STOP    = 0x07, ///< quick stop active
     SW_FAULT_REAC    = 0x0F, ///< fault reaction active
     SW_FAULT         = 0x08, ///< fault
     SW_UNDEFINED     = 0xFF  ///< undefined state
 } TStatusWord;

Function Documentation

static long Nem_ClearErrHist ( TNemesys * 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 NemClerFault() calls this function to clear the error history.

Parameters

[in] Nemesys The device to change

Returns: Error code - ERR_NOERR indicates success

Referenced by NemClearFault().

 {
     return CsiDevWriteObject(&Nemesys->Device, NEM_OD_H1003_ERROR_HISTORY,
         H1003_SUB_01_NUMBER_OF_ERR, 0);
 }

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long Nem_ExecDrvStateCmd	(	TNemesys *	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]	Nemesys	The device to query
[in]	wCmd	The command to execute
[out]	pwState	State of the devcie after execution of the command in wCmd
[in]	wProcessTime	Time between sending the command and reading the status

Returns: Error code - ERR_NOERR indicates success

Referenced by NemSetEnabled().

 {
     long Result;
 
     Result = Nem_SetControlWord(Nemesys, wCmd);
     if (Result != ERR_NOERR)
     {
         return Result;
     }
 
     if (wProcessTimeMs)
     {
         CsiSleep(wProcessTimeMs); // give drive some time to process cmd
     }
 
     return NemReadStatusWord(Nemesys, pwState);
 }

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static long Nem_GetAxisLen	(	TNemesys *	Nemesys,
		uint32_t *	pAxisLen
	)

static

Reads the absolut axis length in increments from device.

The axis length is the length in increments between the upper limit sensor and the lower limit sensor. Normally the pusher should never reach the upper or lower limit sensor. If the pusher moves into a limit sensr, the drive is stopped immediatelly and the device goes into fault state. The application then needs to call NemClearFault() and NemSetOperational() to continue dosing. If the device moves into a limit sensor, then a calibration should be excuted.

Parameters

[in]	Nemesys	The device to query
[out]	pAxisLen	Stores the axis length in increments

Returns: Error code - ERR_NOERR indicates success

Referenced by NemDevInit().

 {
     return CsiDevReadObject(&Nemesys->Device, NEM_OD_H200C_CUSTOM_PERSISTENT_MEM,
         CUST_MEM_AXIS_LEN, pAxisLen);
 }

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static long Nem_GetDevCfg	(	TNemesys *	Nemesys,
		uint32_t *	NemesysCfg
	)

static

Reads device configuration (gear, encoder spindle slope, valve).

This function is called from NemInitDev() to initialize the nemesys device object.

Parameters

[in]	Nemesys	The device to query
[out]	NemesysCfg	Stores the device configuration word.

Returns: Error code - ERR_NOERR indicates success

Referenced by NemDevInit().

 {
     return CsiDevReadObject(&Nemesys->Device, NEM_OD_H200C_CUSTOM_PERSISTENT_MEM,
         CUST_MEM_AXIS_CONF, NemesysCfg);
 }

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static long Nem_GetHomeOffset	(	TNemesys *	Nemesys,
		int32_t *	pHomeOffset
	)

static

Read the home ofset from the device.

The pusher of the neMESYS device travels between the upper and lower limit sensors. The home offset defines the range between the zero position and the lower limit sensor and between the maximum position and the upper limit sensor. So the maximum position is the axis length (Nem_GetAxisLen()) minus 2 x the home offset. This ensures that the device never reaches the limit sensors during normal operation. The value of the home offset depends on device configuration (gear, spindle slope, encoder...) and is stored in custom persistent memory.

Parameters

[in]	Nemesys	The device to query
[out]	pHomeOffset	Stores the home offset

Returns: Error code - ERR_NOERR indicates success

Referenced by NemDevInit().

 {
     return CsiDevReadObject(&Nemesys->Device, NEM_OD_H607C_HOME_OFFSET, 0, (uint32_t*)pHomeOffset);
 }

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static long Nem_GetPosIs	(	TNemesys *	Nemesys,
		int32_t *	pdwPosIs
	)

static

Query actual device position value.

Parameters

[in]	Nemesys	The device to move
[out]	pdwPosIs	Store position is in increments

Returns: Error code - ERR_NOERR indicates success

Referenced by NemDoseVolume(), NemGetSyringeLevel(), and NemSetSyringeLevel().

 {
     long Result;
 
     Result = CsiDevReadObject(&Nemesys->Device,  NEM_OD_H6064_ACTUAL_POSITION,
         0, (uint32_t*)pdwPosIs);
    *pdwPosIs = 0 - *pdwPosIs;  // we use invertet postition values
 
     return Result;
 }

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static long Nem_IsState	(	TNemesys *	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]	Nemesys	The device to query
[in]	wMask	The bitmask to apply to device statusword
[in]	wState	The state bitmask to check
[out]	pResult	Result of the test (0 = false, 1 = true)

Returns: Error code - ERR_NOERR indicates success

Referenced by NemIsCalibrationFinished(), NemIsDosingFinished(), NemIsEnabled(), and NemIsInFaultState().

 {
     long    Result;
     uint16_t StatusWord;
 
     Result = NemReadStatusWord(Nemesys, &StatusWord);
 
     if ((StatusWord & wMask) == wState)
     {
         *pResult = 1;
     }
     else
     {
         *pResult = 0;
     }
 
     return Result;
 }

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static long Nem_MoveToPos	(	TNemesys *	Nemesys,
		int32_t	dwPosAbs,
		uint32_t	dwVelocity
	)

static

Move pusher to a certain position.

This is a private low level function that is called from public API functions to execute dosing tasks. This function performs basic steps like range checking, position value translation and transmission of positon values to device.

Parameters

[in]	Nemesys	The device to move
[in]	dwPosAbs	The position value in increments
[in]	dwVelocity	The speed in mrpm (milli revolution per minute)

Returns: Error code - ERR_NOERR indicates success

Referenced by NemDoseVolume(), NemGenerateConstantFlow(), and NemSetSyringeLevel().

 {
     long     Result;
     uint16_t  wControlWord;
 
     //
     // Limit the position move to the maximum possible value and then invert
     // the position because in real hardware the position value will
     // decrease if we move away from lower limit but we would like to use
     // positive values here
     //
     if ((uint32_t)dwPosAbs > Nemesys->MaxPos)
     {
         dwPosAbs = Nemesys->MaxPos;
     }
     dwPosAbs = 0 - dwPosAbs;
 
     //
     // check if operation mode is profile position - if not, then activate
     // the profile position mode
     //
     if (Nemesys->OpMode != NEM_OP_MODE_PROFILE_POSITION)
     {
         Result = Nem_SetOpMode(Nemesys, NEM_OP_MODE_PROFILE_POSITION);
         if (Result != ERR_NOERR)
         {
             return Result;
         }
     }
 
     //
     // first we store our target position
     //
     Result = CsiDevWriteObject(&Nemesys->Device, NEM_OD_H607A_TARGET_POSITION,
         0, dwPosAbs);
     if (Result != ERR_NOERR)
     {
         return Result;
     }
 
     //
     // now we store our velocity
     //
     Result = CsiDevWriteObject(&Nemesys->Device, NEM_OD_H6081_PROFILE_VELOCITY,
         0, dwVelocity);
     if (Result != ERR_NOERR)
     {
         return Result;
     }
 
     //
     // Now start movement
     //
     wControlWord = CW_OP_EN | CWBIT_NEW_SET_POINT | CWBIT_IMMEDIATELY;
     return Nem_SetControlWord(Nemesys, wControlWord);
 }

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static long Nem_SetControlWord	(	TNemesys *	Nemesys,
		uint16_t	wControlWord
	)

static

Transmits the controlword to the device.

Call this function to change th controlword.

Parameters

[in]	Nemesys	The device to change
[in]	wControlWord	The new controlword to store into device

Returns: Error code - ERR_NOERR indicates success

See also: NemCalibrate(), Nem_SetHomingSpeed(), Nem_SetHomingMode()

Referenced by Nem_ExecDrvStateCmd(), Nem_MoveToPos(), NemCalibrate(), NemClearFault(), NemRestorePos(), and NemStop().

 {
     uint32_t controlword = wControlWord;
     return CsiDevWriteObject(&Nemesys->Device, NEM_OD_H6040_CTRL_WORD, 0, controlword);
 }

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static long Nem_SetHomePos	(	TNemesys *	Nemesys,
		int32_t	dwHomePos
	)

static

Set the value of the psotion counter on end of refernce move.

If device finishes calibration, the home position is loaded into the position counter. Normally if a reference move is executed, the home position should be 0.

Parameters

[in]	Nemesys	The device to change
[in]	dwHomePos	Home position to store in position counter after refernece move

Returns: Error code - ERR_NOERR indicates success

See also: NemCalibrate(), Nem_SetHomingSpeed(), Nem_SetHomingMode()

Referenced by NemCalibrate(), and NemRestorePos().

 {
     return CsiDevWriteObject(&Nemesys->Device, NEM_OD_H2081_HOME_POSITION, 0, dwHomePos);
 }

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static long Nem_SetHomingMode	(	TNemesys *	Nemesys,
		THomingMode	Mode
	)

static

Change homing mode for refernce move.

Call this function the set the homing method for reference move. The following homing methods are supported: If a calibration move is executed the function NemCalibrate() calls this private function to set the speed of the homing move.

Parameters

[in]	Nemesys	The device to change
[in]	Mode	Homing mode to set HM_POS_LIM: Homing move to positive limit switch HM_ACTUAL_POSITION: Take actual position as home

Returns: Error code - ERR_NOERR indicates success

See also: NemCalibrate(), Nem_SetHomingSpeed(), Nem_SetHomePos()

Referenced by NemCalibrate(), and NemRestorePos().

 {
     uint32_t HomingMode = Mode;
     return CsiDevWriteObject(&Nemesys->Device, NEM_OD_H6098_HOMING_METHOD, 0, HomingMode);
 }

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static long Nem_SetHomingSpeed	(	TNemesys *	Nemesys,
		uint32_t	Velocity
	)

static

Change speed for calibration move.

If a calibration move is executed the function NemCalibrate() calls this private function to set the speed of the homing move.

Parameters

[in]	Nemesys	The device to change
[in]	Velocity	The speed in mrpm (milli revolutions per minute)

Returns: Error code - ERR_NOERR indicates success

See also: NemCalibrate(), Nem_SetHomingMode(), Nem_SetHomePos()

Referenced by NemCalibrate().

 {
     return CsiDevWriteObject(&Nemesys->Device, NEM_OD_H6099_HOMING_SPEEDS, 1, Velocity);
 }

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static long Nem_SetOpMode	(	TNemesys *	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]	Nemesys	The device to change
[in]	OpMode	The new operation mode to set

Returns: Error code - ERR_NOERR indicates success

Referenced by Nem_MoveToPos(), NemCalibrate(), NemDevInit(), and NemRestorePos().

 {
     long Result;
     uint32_t dwOpMode = OpMode;
 
     Result = CsiDevWriteObject(&Nemesys->Device, NEM_OD_H6060_OP_MODE, 0, dwOpMode);
     if (Result != ERR_NOERR)
     {
         return Result;
     }
 
     Nemesys->OpMode = OpMode; // stroe operation mode in shadow buffer
     return Result;
 }

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