//---------------------------------------------------------------------------
//
// Function: AppCbSync
//
// Description: sync event callback function called by event module within
// kernel part (high priority).
// This function sets the outputs, reads the inputs and runs
// the control loop.
//
// Parameters: void
//
// Returns: tEplKernel = error code,
// kEplSuccessful = no error
// otherwise = post error event to API layer
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel PUBLIC AppCbSync(void)
{
tEplKernel EplRet = kEplSuccessful;
EplRet = EplApiProcessImageExchange(&AppProcessImageCopyJob_g);
if (EplRet != kEplSuccessful) {
return EplRet;
}
return EplRet;
}
//---------------------------------------------------------------------------
//
// Function: AppCbSync
//
// Description: sync event callback function called by event module within
// kernel part (high priority).
// This function sets the outputs, reads the inputs and runs
// the control loop.
//
// Parameters: void
//
// Returns: tEplKernel = error code,
// kEplSuccessful = no error
// otherwise = post error event to API layer
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel PUBLIC AppCbSync(void)
{
tEplKernel EplRet;
int i;
EplRet = EplApiProcessImageExchange(&AppProcessImageCopyJob_g);
if (EplRet != kEplSuccessful)
{
return EplRet;
}
uiCnt_g++;
nodeVar_g[0].m_uiInput = AppProcessImageOut_g.CN1_M00_Digital_Input_8_Bit_Byte_1;
nodeVar_g[1].m_uiInput = AppProcessImageOut_g.CN32_M00_Digital_Input_8_Bit_Byte_1;
nodeVar_g[2].m_uiInput = AppProcessImageOut_g.CN110_M00_Digital_Input_8_Bit_Byte_1;
for (i = 0; (i < MAX_NODES) && (iUsedNodeIds_g[i] != 0); i++)
{
/* Running Leds */
/* period for LED flashing determined by inputs */
nodeVar_g[i].m_uiPeriod = (nodeVar_g[i].m_uiInput == 0) ? 1 : (nodeVar_g[i].m_uiInput * 20);
if (uiCnt_g % nodeVar_g[i].m_uiPeriod == 0)
{
if (nodeVar_g[i].m_uiLeds == 0x00)
{
nodeVar_g[i].m_uiLeds = 0x1;
nodeVar_g[i].m_iToggle = 1;
}
else
{
if (nodeVar_g[i].m_iToggle)
{
nodeVar_g[i].m_uiLeds <<= 1;
if (nodeVar_g[i].m_uiLeds == APP_LED_MASK_1)
{
nodeVar_g[i].m_iToggle = 0;
}
}
else
{
nodeVar_g[i].m_uiLeds >>= 1;
if (nodeVar_g[i].m_uiLeds == 0x01)
{
nodeVar_g[i].m_iToggle = 1;
}
}
}
}
if (nodeVar_g[i].m_uiInput != nodeVar_g[i].m_uiInputOld)
{
nodeVar_g[i].m_uiInputOld = nodeVar_g[i].m_uiInput;
}
if (nodeVar_g[i].m_uiLeds != nodeVar_g[i].m_uiLedsOld)
{
nodeVar_g[i].m_uiLedsOld = nodeVar_g[i].m_uiLeds;
}
}
AppProcessImageIn_g.CN1_M00_Digital_Ouput_8_Bit_Byte_1 = nodeVar_g[0].m_uiLeds;
AppProcessImageIn_g.CN32_M00_Digital_Ouput_8_Bit_Byte_1 = nodeVar_g[1].m_uiLeds;
AppProcessImageIn_g.CN110_M00_Digital_Ouput_8_Bit_Byte_1 = nodeVar_g[2].m_uiLeds;
return EplRet;
}
tEplKernel PUBLIC AppCbSync(void)
{
tEplKernel EplRet;
EplRet = EplApiProcessImageExchange(&AppProcessImageCopyJob_g);
if (EplRet != kEplSuccessful)
{
return EplRet;
}
uiCnt_g++;
#if 0
static UINT uiDigitalModData = 1;
int ch1;
int ch2 = 0;
static UINT uiCount = 0;
static const UINT uiWait = 10;
uiDigitalModData++;
switch (AutoHome)
{
case 0: //wait connection
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 0;
if (AppProcessImageOut_g.CN2_M00_OutChannel_REC_StatusWord != 0)
{
if ( ++uiCount > uiWait )
{
uiCount = 0;
AutoHome = 1;
printf("Connection complete\n");
}
}
}
break;
case 1: //auto error acknowledge
{
if (AppProcessImageOut_g.CN2_M00_OutChannel_REC_ErrorCode != 0) //check if error
{
if ( ++uiCount > uiWait )
{
uiCount = 0;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 128;
AutoHome = 0;
printf("clear errors not complete\n");
}
}
else //no error
{
if ( ++uiCount > uiWait )
{
uiCount = 0;
AutoHome = 2;
printf("No errors complete\n");
}
}
}
break;
case 2: //shutdown
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 6;
if(AppProcessImageOut_g.CN2_M00_OutChannel_REC_StatusWord & 0x0001) // 0000000000000001 check ready to switch on
{
if ( ++uiCount > uiWait )
{
uiCount = 0;
AutoHome = 3;
printf("Shutdown complete\n");
}
}
}
break;
case 3: //switch on
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 7;
if(AppProcessImageOut_g.CN2_M00_OutChannel_REC_StatusWord & 0x0002) // 0000000000000010 check bit switched on
{
if ( ++uiCount > uiWait )
{
uiCount = 0;
AutoHome = 4;
printf("Switch on complete\n");
}
}
}
break;
case 4: //enable homing
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ModesOfOperation = 6;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_HomingMethod = -128;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 15;
if(AppProcessImageOut_g.CN2_M00_OutChannel_REC_StatusWord & 0x0004) // 0000000000000100 check mode bit enabled
{
if ( ++uiCount > uiWait )
{
uiCount = 0;
AutoHome = 5;
printf("Enable homing complete\n");
}
}
}
break;
case 5: //start homing
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 31;
if(AppProcessImageOut_g.CN2_M00_OutChannel_REC_StatusWord & 0x3000) // 0011000000000000 check homing done
{
if ( ++uiCount > uiWait )
{
uiCount = 0;
AutoHome = 6;
printf("Start homing complete\n");
}
}
}
break;
case 6: //disable operation
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 7;
if(AppProcessImageOut_g.CN2_M00_OutChannel_REC_StatusWord & 0x0002) // 0000000000000010 check switched on
{
if ( ++uiCount > uiWait )
{
uiCount = 0;
AutoHome = 10;
printf("Auto homing complete\n");
}
}
}
break;
case 10: //auto homing done
{
if (_kbhit())
{
ch1 = getchar();
printf("%c", ch1);
switch (ch1)
{
case '1': //shutdown
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 6;
break;
}
case '2': //switch on
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 7;
break;
}
case '3': //enable homing operation
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ModesOfOperation = 6;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_HomingMethod = -128;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 15;
break;
}
case '4': //home
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 31;
break;
}
case '5': //disable operation
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 7;
break;
}
case '6': //enable position move operation
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ModesOfOperation = 1;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 15;
break;
}
case '7': //new set point
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 31;
AppProcessImageIn_g.CN2_M40_InputChannel_REC_TargetPosition = AppProcessImageIn_g.CN2_M40_InputChannel_REC_TargetPosition + 1000;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ProfileAcceleration = 5000;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ProfileDeceleration = 5000;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ProfileVelocity = 1000;
break;
}
case '8': //new set point
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 31;
AppProcessImageIn_g.CN2_M40_InputChannel_REC_TargetPosition = AppProcessImageIn_g.CN2_M40_InputChannel_REC_TargetPosition - 1000;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ProfileAcceleration = 5000;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ProfileDeceleration = 5000;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ProfileVelocity = 1000;
break;
}
case '9': //enable profile velocity move operation
{
AppProcessImageIn_g.CN2_MC0_InputChannel_REC_Polarity = 0;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ProfileAcceleration = 5000;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ProfileDeceleration = 5000;
AppProcessImageIn_g.CN2_M40_InputChannel_REC_TargetVelocity = 5000;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ModesOfOperation = 3;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 15;
break;
}
case '0': //enable profile velocity move operation
{
AppProcessImageIn_g.CN2_MC0_InputChannel_REC_Polarity = 64;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ProfileAcceleration = 5000;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ProfileDeceleration = 5000;
AppProcessImageIn_g.CN2_M40_InputChannel_REC_TargetVelocity = 5000;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ModesOfOperation = 3;
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 15;
break;
}
case 'a': //error reset
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 128;
break;
}
case 'b': //error reset
{
AppProcessImageIn_g.CN2_M80_InputChannel_REC_ControlWord = 0;
break;
}
}
}
}
break;
}
#endif
return EplRet;
}
