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#ifndef HOMING_H
#define HOMING_H
#include <rtapi_bool.h>
/* HOME_* flags (typ set in emc/task/taskintf.cc) */
#define HOME_IGNORE_LIMITS 1
#define HOME_USE_INDEX 2
#define HOME_IS_SHARED 4
#define HOME_UNLOCK_FIRST 8
#define HOME_ABSOLUTE_ENCODER 16
#define HOME_NO_REHOME 32
#define HOME_NO_FINAL_MOVE 64
#define HOME_INDEX_NO_ENCODER_RESET 128
//---------------------------------------------------------------------
// INTERFACE routines
// per-joint interface parameters (one-time setup)
void set_joint_homing_params(int jno,
double offset,
double home,
double home_final_vel,
double home_search_vel,
double home_latch_vel,
int home_flags,
int home_sequence,
bool volatile_home
);
// updateable interface params (for inihal pin changes typically):
void update_joint_homing_params (int jno,
double home_offset,
double home_home,
int home_sequence
);
//---------------------------------------------------------------------
// CONTROL routines
// one-time initialization (return 0 if ok):
int homing_init(int id,
double servo_period,
int n_joints, // total no of joints
int n_extrajoints, // extra joints (non-kins)
emcmot_joint_t* pjoints
);
// once-per-servo-period functions:
void read_homing_in_pins(int njoints);
bool do_homing(void); //return 1 if allhomed
void write_homing_out_pins(int njoints);
// responses to EMCMOT_JOINT_HOME message:
void do_home_joint(int jno);
// per-joint controls
void do_cancel_homing(int jno);
void set_unhomed(int jno,motion_state_t motstate);
//---------------------------------------------------------------------
// QUERIES
// overall status:
bool get_allhomed(void);
bool get_homing_is_active(void);
// per-joint information:
int get_home_sequence(int jno); //return s
bool get_homing(int jno);
bool get_homed(int jno);
bool get_index_enable(int jno);
bool get_home_needs_unlock_first(int jno);
bool get_home_is_idle(int jno);
bool get_home_is_synchronized(int jno);
bool get_homing_at_index_search_wait(int jno);
//---------------------------------------------------------------------
// Module interface
// motmod provided ptrs for functions called by homing:
void homeMotFunctions(void(*pSetRotaryUnlock)(int,int)
,int( *pGetRotaryUnlock)(int)
);
#endif /* HOMING_H */
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