//*****************************************************************************
//
// Reads the configuration of the position control mode of the current motor
// controller.
//
//*****************************************************************************
void
PositionConfigRead(void)
{
//
// Read the current position.
//
if(CANReadParameter(LM_API_STATUS_POS, 0,
(unsigned long *)&(g_sPositionConfig.lPosition),
0) == 0)
{
g_sPositionConfig.lPosition = 0;
}
else if(g_sPositionConfig.lPosition < 0)
{
g_sPositionConfig.lPosition =
(((g_sPositionConfig.lPosition / 65536) * 100) +
((((g_sPositionConfig.lPosition % 65536) * 100) - 32768) /
65536));
}
else
{
g_sPositionConfig.lPosition =
(((g_sPositionConfig.lPosition / 65536) * 100) +
((((g_sPositionConfig.lPosition % 65536) * 100) + 32768) /
65536));
}
//
// Read the PID controller's P coefficient.
//
if(CANReadParameter(LM_API_POS_PC, 0,
(unsigned long *)&(g_sPositionConfig.lP), 0) == 0)
{
g_sPositionConfig.lP = 0;
}
else if(g_sPositionConfig.lP < 0)
{
g_sPositionConfig.lP = (((g_sPositionConfig.lP / 65536) * 1000) +
((((g_sPositionConfig.lP % 65536) * 1000) -
32768) / 65536));
}
else
{
g_sPositionConfig.lP = (((g_sPositionConfig.lP / 65536) * 1000) +
((((g_sPositionConfig.lP % 65536) * 1000) +
32768) / 65536));
}
//
// Read the PID controller's I coefficient.
//
if(CANReadParameter(LM_API_POS_IC, 0,
(unsigned long *)&(g_sPositionConfig.lI), 0) == 0)
{
g_sPositionConfig.lI = 0;
}
else if(g_sPositionConfig.lI < 0)
{
g_sPositionConfig.lI = (((g_sPositionConfig.lI / 65536) * 1000) +
((((g_sPositionConfig.lI % 65536) * 1000) -
32768) / 65536));
}
else
{
g_sPositionConfig.lI = (((g_sPositionConfig.lI / 65536) * 1000) +
((((g_sPositionConfig.lI % 65536) * 1000) +
32768) / 65536));
}
//
// Read the PID controller's D coefficient.
//
if(CANReadParameter(LM_API_POS_DC, 0,
(unsigned long *)&(g_sPositionConfig.lD), 0) == 0)
{
g_sPositionConfig.lD = 0;
}
else if(g_sPositionConfig.lD < 0)
{
g_sPositionConfig.lD = (((g_sPositionConfig.lD / 65536) * 1000) +
((((g_sPositionConfig.lD % 65536) * 1000) -
32768) / 65536));
}
else
{
g_sPositionConfig.lD = (((g_sPositionConfig.lD / 65536) * 1000) +
((((g_sPositionConfig.lD % 65536) * 1000) +
32768) / 65536));
}
//
// Read the position reference source.
//
if(CANReadParameter(LM_API_POS_REF, 0, &(g_sPositionConfig.ulPosRef),
0) == 0)
{
g_sPositionConfig.ulPosRef = 0;
}
else
{
g_sPositionConfig.ulPosRef &= 1;
}
}
//*****************************************************************************
//
// Reads the configuration of the speed control mode of the current motor
// controller.
//
//*****************************************************************************
void
SpeedConfigRead(void)
{
//
// Read the PID controller's P coefficient.
//
if(CANReadParameter(LM_API_SPD_PC, 0,
(unsigned long *)&(g_sSpeedConfig.lP), 0) == 0)
{
g_sSpeedConfig.lP = 0;
}
else if(g_sSpeedConfig.lP < 0)
{
g_sSpeedConfig.lP = (((g_sSpeedConfig.lP / 65536) * 1000) +
((((g_sSpeedConfig.lP % 65536) * 1000) - 32768) /
65536));
}
else
{
g_sSpeedConfig.lP = (((g_sSpeedConfig.lP / 65536) * 1000) +
((((g_sSpeedConfig.lP % 65536) * 1000) + 32768) /
65536));
}
//
// Read the PID controller's I coefficient.
//
if(CANReadParameter(LM_API_SPD_IC, 0,
(unsigned long *)&(g_sSpeedConfig.lI), 0) == 0)
{
g_sSpeedConfig.lI = 0;
}
else if(g_sSpeedConfig.lI < 0)
{
g_sSpeedConfig.lI = (((g_sSpeedConfig.lI / 65536) * 1000) +
((((g_sSpeedConfig.lI % 65536) * 1000) - 32768) /
65536));
}
else
{
g_sSpeedConfig.lI = (((g_sSpeedConfig.lI / 65536) * 1000) +
((((g_sSpeedConfig.lI % 65536) * 1000) + 32768) /
65536));
}
//
// Read the PID controller's D coefficient.
//
if(CANReadParameter(LM_API_SPD_DC, 0,
(unsigned long *)&(g_sSpeedConfig.lD), 0) == 0)
{
g_sSpeedConfig.lD = 0;
}
else if(g_sSpeedConfig.lD < 0)
{
g_sSpeedConfig.lD = (((g_sSpeedConfig.lD / 65536) * 1000) +
((((g_sSpeedConfig.lD % 65536) * 1000) - 32768) /
65536));
}
else
{
g_sSpeedConfig.lD = (((g_sSpeedConfig.lD / 65536) * 1000) +
((((g_sSpeedConfig.lD % 65536) * 1000) + 32768) /
65536));
}
//
// Read the speed reference source.
//
if(CANReadParameter(LM_API_SPD_REF, 0, &(g_sSpeedConfig.ulSpeedRef),
0) == 0)
{
g_sSpeedConfig.ulSpeedRef = 0;
}
else
{
g_sSpeedConfig.ulSpeedRef &= 3;
if(g_sSpeedConfig.ulSpeedRef)
{
g_sSpeedConfig.ulSpeedRef--;
}
}
}
//*****************************************************************************
//
// Displays the "VComp Control Mode" panel. The returned valud is the ID of
// the panel to be displayed instead of the "VComp Control Mode" panel.
//
//*****************************************************************************
unsigned long
DisplayVComp(void)
{
unsigned long ulRamp, ulComp, ulPos, ulIdx, ulDelay, ulDemo, ulTime;
unsigned long ulStep;
long lVoltage;
//
// Enable voltage compensation control mode.
//
CANVCompModeEnable();
//
// Set the default voltage.
//
lVoltage = 0;
CANVCompSet(0, 0);
//
// Read the ramp rate.
//
if(CANReadParameter(LM_API_VCOMP_IN_RAMP, 0, &ulRamp, 0) == 0)
{
ulRamp = 0;
}
else
{
ulRamp = (((ulRamp & 0xffff) * 100) + 128) / 256;
}
//
// Read the compensation rate.
//
if(CANReadParameter(LM_API_VCOMP_COMP_RAMP, 0, &ulComp, 0) == 0)
{
ulComp = 0;
}
else
{
ulComp = (((ulComp & 0xffff) * 100) + 128) / 256;
}
//
// Initially, updates to the voltage occur immediately.
//
ulDelay = 0;
//
// Initially, demo mode is disabled.
//
ulDemo = 0;
ulTime = 0;
ulStep = 0;
//
// Disable the widget fill for all the widgets except the one for the
// device ID selection.
//
for(ulIdx = 0; ulIdx < 4; ulIdx++)
{
CanvasFillOff(g_psVCompWidgets + ulIdx);
}
CanvasFillOn(g_psVCompWidgets + 1);
//
// Add the "VComp Control Mode" panel widgets to the widget list.
//
for(ulIdx = 0; ulIdx < NUM_WIDGETS; ulIdx++)
{
WidgetAdd(WIDGET_ROOT, (tWidget *)(g_psVCompWidgets + ulIdx));
}
//
// Enable the status display.
//
StatusEnable(0);
//
// Set the default cursor position to the device ID selection.
//
ulPos = 1;
//
// Loop forever. This loop will be explicitly exited when the proper
// condition is detected.
//
while(1)
{
//
// Print out the current device ID.
//
usnprintf(g_pcIDBuffer, sizeof(g_pcIDBuffer), "%d", g_ulCurrentID);
//
// Print out the current voltage.
//
if(lVoltage < 0)
{
usnprintf(g_pcVoltageBuffer, sizeof(g_pcVoltageBuffer),
"-%d.%01d V", (0 - lVoltage) / 10, (0 - lVoltage) % 10);
}
else
{
usnprintf(g_pcVoltageBuffer, sizeof(g_pcVoltageBuffer),
"%d.%01d V", lVoltage / 10, lVoltage % 10);
}
//
// Print out the current ramp rate.
//
if(ulRamp == 0)
{
usnprintf(g_pcRampBuffer, sizeof(g_pcRampBuffer), "none");
}
else
{
usnprintf(g_pcRampBuffer, sizeof(g_pcRampBuffer), "%d.%02d V/ms",
ulRamp / 100, ulRamp % 100);
}
//
// Print out the current compensation rate.
//
if(ulComp == 0)
{
usnprintf(g_pcCompBuffer, sizeof(g_pcCompBuffer), "none");
}
else
{
usnprintf(g_pcCompBuffer, sizeof(g_pcCompBuffer), "%d.%02d V/ms",
ulComp / 100, ulComp % 100);
}
//
// Update the status display.
//
StatusUpdate();
//
// Update the display.
//
DisplayFlush();
//
// See if a serial download has begun.
//
if(HWREGBITW(&g_ulFlags, FLAG_SERIAL_BOOTLOADER) == 1)
{
//
// Disable the status display.
//
StatusDisable();
//
// Remove the "VComp Control Mode" panel widgets.
//
for(ulIdx = 0; ulIdx < NUM_WIDGETS; ulIdx++)
{
WidgetRemove((tWidget *)(g_psVCompWidgets + ulIdx));
}
CanvasTextColorSet(g_psVCompWidgets + 2, ClrWhite);
//
// Set the output voltage to zero.
//
CANVCompSet(0, 0);
//
// Return the ID of the update panel.
//
return(PANEL_UPDATE);
}
//
// See if demo mode is enabled.
//
if(ulDemo != 0)
{
//
// See if the current time delay has expired.
//
if(ulTime < g_ulTickCount)
{
//
// Increment to the next step, wrapping back to the beginning
// of the sequence when the end has been reached.
//
ulStep++;
if(ulStep ==
(sizeof(g_plVCompDemo) / sizeof(g_plVCompDemo[0])))
{
ulStep = 0;
}
//
// Set the voltage as directed by the next step.
//
lVoltage = g_plVCompDemo[ulStep][0];
CANVCompSet((lVoltage * 256) / 10, 0);
//
// Set the time delay for this step.
//
ulTime = g_ulTickCount + g_plVCompDemo[ulStep][1];
}
}
//
// See if the up button was pressed.
//
if(HWREGBITW(&g_ulFlags, FLAG_UP_PRESSED) == 1)
{
//
// Only move the cursor if it is not already at the top of the
// screen and a delayed voltage update is not in progress.
//
if((ulPos != 0) && (ulDelay == 0))
{
//
// Disable the widget fill for the currently selected widget.
//
CanvasFillOff(g_psVCompWidgets + ulPos);
//
// Decrement the cursor row, skipping the voltage row when demo
// mode is enabled.
//
ulPos--;
if((ulPos == 2) && (ulDemo != 0))
{
ulPos--;
}
//
// Enable the widget fill for the newly selected widget.
//
CanvasFillOn(g_psVCompWidgets + ulPos);
}
//
// Clear the press flag for the up button.
//
HWREGBITW(&g_ulFlags, FLAG_UP_PRESSED) = 0;
}
//
// See if the down button was pressed.
//
if(HWREGBITW(&g_ulFlags, FLAG_DOWN_PRESSED) == 1)
{
//
// Only move the cursor if it is not already at the bottom of the
// screen and a delayed voltage update is not in progress.
//
if((ulPos != 4) && (ulDelay == 0))
{
//
// Disable the widget fill for the currently selected widget.
//
CanvasFillOff(g_psVCompWidgets + ulPos);
//
// Increment the cursor row, skipping the voltage row when demo
// mode is enabled.
//
ulPos++;
if((ulPos == 2) && (ulDemo != 0))
{
ulPos++;
}
//
// Enable the widget fill for the newly selected widget.
//
CanvasFillOn(g_psVCompWidgets + ulPos);
}
//
// Clear the press flag for the down button.
//
HWREGBITW(&g_ulFlags, FLAG_DOWN_PRESSED) = 0;
}
//
// See if the left button was pressed.
//
if(HWREGBITW(&g_ulFlags, FLAG_LEFT_PRESSED) == 1)
{
//
// See if the device ID is being changed.
//
if(ulPos == 1)
{
//
// Only change the device ID if it is greater than one.
//
if(g_ulCurrentID > 1)
{
//
// Exit demo mode.
//
ulDemo = 0;
CanvasTextColorSet(g_psVCompWidgets + 2, ClrWhite);
//
// Set the voltage to 0 for the current device ID.
//
CANVCompSet(0, 0);
//
// Decrement the device ID.
//
if((HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1) ||
(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1) ||
(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1))
{
if(g_ulCurrentID > 3)
{
CANSetID(g_ulCurrentID - 3);
}
else
{
CANSetID(1);
}
}
else
{
CANSetID(g_ulCurrentID - 1);
}
//
// Enable voltage compensation mode.
//
CANVCompModeEnable();
//
// Set the voltage for the new device.
//
lVoltage = 0;
CANVCompSet(0, 0);
//
// Read the ramp rate.
//
if(CANReadParameter(LM_API_VCOMP_IN_RAMP, 0, &ulRamp,
0) == 0)
{
ulRamp = 0;
}
else
{
ulRamp = (((ulRamp & 0xffff) * 100) + 128) / 256;
}
//
// Read the compensation rate.
//
if(CANReadParameter(LM_API_VCOMP_COMP_RAMP, 0, &ulComp,
0) == 0)
{
ulComp = 0;
}
else
{
ulComp = (((ulComp & 0xffff) * 100) + 128) / 256;
}
}
}
//
// See if the voltage is being changed.
//
else if(ulPos == 2)
{
//
// Only change the voltage if it is not already full reverse.
//
if(lVoltage > -120)
{
//
// Decrement the voltage.
//
if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1)
{
lVoltage -= 11;
}
else if((HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1) ||
(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1))
{
lVoltage -= 111;
}
else
{
lVoltage--;
}
if(lVoltage < -120)
{
lVoltage = -120;
}
//
// Send the updated voltage to the motor controller if a
// delayed update is not in progress.
//
if(ulDelay == 0)
{
CANVCompSet((lVoltage * 256) / 10, 0);
}
}
}
//
// See if the voltage ramp rate is being changed.
//
else if(ulPos == 3)
{
//
// Only change the ramp rate if it is not already zero.
//
if(ulRamp > 0)
{
//
// Decrement the voltage ramp rate.
//
if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1)
{
ulRamp -= 11;
}
else if((HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1) ||
(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1))
{
ulRamp -= 111;
}
else
{
ulRamp--;
}
if(ulRamp & 0x80000000)
{
ulRamp = 0;
}
//
// Send the updated voltage ramp rate.
//
CANVCompInRampSet((ulRamp * 256) / 100);
}
}
//
// See if the compensation rate is being changed.
//
else if(ulPos == 4)
{
//
// Only change the compensation rate if it is not already zero.
//
if(ulComp > 0)
{
//
// Decrement the compensation rate.
//
if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1)
{
ulComp -= 11;
}
else if((HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1) ||
(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1))
{
ulComp -= 111;
}
else
{
ulComp--;
}
if(ulComp & 0x80000000)
{
ulComp = 0;
}
//
// Send the updated compensation rate.
//
CANVCompCompRampSet((ulComp * 256) / 100);
}
}
//
// Clear the press flag for the left button.
//
HWREGBITW(&g_ulFlags, FLAG_LEFT_PRESSED) = 0;
HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) = 0;
HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) = 0;
HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) = 0;
}
//
// See if the right button was pressed.
//
if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_PRESSED) == 1)
{
//
// See if the device ID is being changed.
//
if(ulPos == 1)
{
//
// Only change the device ID if it is less than 63.
//
if(g_ulCurrentID < 63)
{
//
// Exit demo mode.
//
ulDemo = 0;
CanvasTextColorSet(g_psVCompWidgets + 2, ClrWhite);
//
// Set the voltage to 0 for the current device ID.
//
CANVCompSet(0, 0);
//
// Increment the device ID.
//
if((HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1) ||
(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1) ||
(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1))
{
if(g_ulCurrentID < 60)
{
CANSetID(g_ulCurrentID + 3);
}
else
{
CANSetID(63);
}
}
else
{
CANSetID(g_ulCurrentID + 1);
}
//
// Enable voltage compensation control mode.
//
CANVCompModeEnable();
//
// Set the voltage for the new device.
//
lVoltage = 0;
CANVCompSet(0, 0);
//
// Read the ramp rate.
//
if(CANReadParameter(LM_API_VCOMP_IN_RAMP, 0, &ulRamp,
0) == 0)
{
ulRamp = 0;
}
else
{
ulRamp = (((ulRamp & 0xffff) * 100) + 128) / 256;
}
//
// Read the compensation rate.
//
if(CANReadParameter(LM_API_VCOMP_COMP_RAMP, 0, &ulComp,
0) == 0)
{
ulComp = 0;
}
else
{
ulComp = (((ulComp & 0xffff) * 100) + 128) / 256;
}
}
}
//
// See if the voltage is being changed.
//
else if(ulPos == 2)
{
//
// Only change the voltage if it is not already full forward.
//
if(lVoltage < 120)
{
//
// Increment the voltage.
//
if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1)
{
lVoltage += 11;
}
else if((HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1) ||
(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1))
{
lVoltage += 111;
}
else
{
lVoltage++;
}
if(lVoltage > 120)
{
lVoltage = 120;
}
//
// Send the updated voltage to the motor controller if a
// delayed update is not in progress.
//
if(ulDelay == 0)
{
CANVCompSet((lVoltage * 256) / 10, 0);
}
}
}
//
// See if the voltage ramp rate is being changed.
//
else if(ulPos == 3)
{
//
// Only change the ramp rate if it is not already the maximum.
//
if(ulRamp < 1200)
{
//
// Increment the voltage ramp rate.
//
if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1)
{
ulRamp += 11;
}
else if((HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1) ||
(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1))
{
ulRamp += 111;
}
else
{
ulRamp++;
}
if(ulRamp > 1200)
{
ulRamp = 1200;
}
//
// Send the updated voltage ramp rate.
//
CANVCompInRampSet((ulRamp * 256) / 100);
}
}
//
// See if the compensation rate is being changed.
//
else if(ulPos == 4)
{
//
// Only change the compensation rate if it is not already the
// maximum.
//
if(ulComp < 1200)
{
//
// Increment the compensation rate.
//
if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1)
{
ulComp += 11;
}
else if((HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1) ||
(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1))
{
ulComp += 111;
}
else
{
ulComp++;
}
if(ulComp > 1200)
{
ulComp = 1200;
}
//
// Send the updated compensation rate.
//
CANVCompCompRampSet((ulComp * 256) / 100);
}
}
//
// Clear the press flag for the right button.
//
HWREGBITW(&g_ulFlags, FLAG_RIGHT_PRESSED) = 0;
HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) = 0;
HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) = 0;
HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) = 0;
}
//
// See if the select button was pressed.
//
if(HWREGBITW(&g_ulFlags, FLAG_SELECT_PRESSED) == 1)
{
//
// Clear the press flag for the select button.
//
HWREGBITW(&g_ulFlags, FLAG_SELECT_PRESSED) = 0;
//
// See if the cursor is on the top row of the screen.
//
if(ulPos == 0)
{
//
// Display the menu.
//
ulIdx = DisplayMenu(PANEL_VCOMP);
//
// See if another panel was selected.
//
if(ulIdx != PANEL_VCOMP)
{
//
// Disable the status display.
//
StatusDisable();
//
// Remove the "VComp Control Mode" panel widgets.
//
for(ulPos = 0; ulPos < NUM_WIDGETS; ulPos++)
{
WidgetRemove((tWidget *)(g_psVCompWidgets + ulPos));
}
CanvasTextColorSet(g_psVCompWidgets + 2, ClrWhite);
//
// Set the output voltage to zero.
//
CANVCompSet(0, 0);
//
// Return the ID of the newly selected panel.
//
return(ulIdx);
}
//
// Since the "VComp Control Mode" panel was selected from the
// menu, move the cursor down one row.
//
CanvasFillOff(g_psVCompWidgets);
ulPos++;
CanvasFillOn(g_psVCompWidgets + 1);
}
//
// See if the cursor is on the ID selection.
//
else if(ulPos == 1)
{
//
// Toggle demo mode.
//
ulDemo ^= 1;
//
// See if the demo has just been disabled.
//
if(ulDemo == 0)
{
//
// Set the output voltage to zero.
//
lVoltage = 0;
CANVCompSet(0, 0);
//
// Indicate that demo mode has exited by setting the text
// color to white.
//
CanvasTextColorSet(g_psVCompWidgets + 2, ClrWhite);
}
//
// Otherwise start demo mode.
//
else
{
//
// Indicate that demo mode is active by setting the text
// color to gray.
//
CanvasTextColorSet(g_psVCompWidgets + 2, ClrSelected);
//
// Start with the first step.
//
ulStep = 0;
//
// Set the voltage as directed by the first step.
//
lVoltage = g_plVCompDemo[0][0];
CANVCompSet((lVoltage * 256) / 10, 0);
//
// Set the time delay for the first step.
//
ulTime = g_ulTickCount + g_plVCompDemo[0][1];
}
}
//
// See if the cursor is on the voltage selection.
//
else if(ulPos == 2)
{
//
// Toggle the state of the delayed update.
//
ulDelay ^= 1;
//
// See if a delayed update should be performed.
//
if(ulDelay == 0)
{
//
// Send the delayed voltage update.
//
CANVCompSet((lVoltage * 256) / 10, 0);
//
// Change the text color of the voltage selection to white
// to indicate that updates will occur immediately.
//
CanvasTextColorSet(g_psVCompWidgets + 2, ClrWhite);
}
else
{
//
// Change the text color of the voltage selection to black
// to indicate that updates will be delayed.
//
CanvasTextColorSet(g_psVCompWidgets + 2, ClrBlack);
}
}
}
}
}
//*****************************************************************************
//
// Reads the configuration of the current control mode of the current motor
// controller.
//
//*****************************************************************************
void
CurrentConfigRead(void)
{
//
// Read the PID controller's P coefficient.
//
if(CANReadParameter(LM_API_ICTRL_PC, 0,
(unsigned long *)&(g_sCurrentConfig.lP), 0) == 0)
{
g_sCurrentConfig.lP = 0;
}
else if(g_sCurrentConfig.lP < 0)
{
g_sCurrentConfig.lP = (((g_sCurrentConfig.lP / 65536) * 1000) +
((((g_sCurrentConfig.lP % 65536) * 1000) -
32768) / 65536));
}
else
{
g_sCurrentConfig.lP = (((g_sCurrentConfig.lP / 65536) * 1000) +
((((g_sCurrentConfig.lP % 65536) * 1000) +
32768) / 65536));
}
//
// Read the PID controller's I coefficient.
//
if(CANReadParameter(LM_API_ICTRL_IC, 0,
(unsigned long *)&(g_sCurrentConfig.lI), 0) == 0)
{
g_sCurrentConfig.lI = 0;
}
else if(g_sCurrentConfig.lI < 0)
{
g_sCurrentConfig.lI = (((g_sCurrentConfig.lI / 65536) * 1000) +
((((g_sCurrentConfig.lI % 65536) * 1000) -
32768) / 65536));
}
else
{
g_sCurrentConfig.lI = (((g_sCurrentConfig.lI / 65536) * 1000) +
((((g_sCurrentConfig.lI % 65536) * 1000) +
32768) / 65536));
}
//
// Read the PID controller's D coefficient.
//
if(CANReadParameter(LM_API_ICTRL_DC, 0,
(unsigned long *)&(g_sCurrentConfig.lD), 0) == 0)
{
g_sCurrentConfig.lD = 0;
}
else if(g_sCurrentConfig.lD < 0)
{
g_sCurrentConfig.lD = (((g_sCurrentConfig.lD / 65536) * 1000) +
((((g_sCurrentConfig.lD % 65536) * 1000) -
32768) / 65536));
}
else
{
g_sCurrentConfig.lD = (((g_sCurrentConfig.lD / 65536) * 1000) +
((((g_sCurrentConfig.lD % 65536) * 1000) +
32768) / 65536));
}
}
