Fast buffered motion protocol under development (work in progress, not working at the moment)feature/FastBufferedMotionProtocol

1 files changed, 11 insertions, 7 deletions

diff --git a/simplemotion.c b/simplemotion.c
index cea0238..3d12322 100644
--- a/simplemotion.c
+++ b/simplemotion.c
@@ -256,6 +256,9 @@ char *cmdidToStr(smuint8 cmdid )
     case SMCMD_GET_CLOCK_RET :str="SMCMD_GET_CLOCK_RET";break;

     case SMCMD_FAST_UPDATE_CYCLE:str="SMCMD_FAST_UPDATE_CYCLE";break;

     case SMCMD_FAST_UPDATE_CYCLE_RET:str="SMCMD_FAST_UPDATE_CYCLE_RET";break;

+    case SMCMD_FAST_BUFFERED_CMD:str="SMCMD_FAST_BUFFERED_CMD";break;

+    case SMCMD_FAST_BUFFERED_CMD_RET:str="SMCMD_FAST_BUFFERED_CMD_RET";break;

+    case SMCMD_FAST_BUFFERED_CMD_RET_SHORT:str="SMCMD_FAST_BUFFERED_CMD_RET_SHORT";break;

     default: str="unknown cmdid";break;

     }

     //puts(str);

@@ -418,7 +421,6 @@ SM_STATUS smReceiveErrorHandler( smbus handle, smbool flushrx )
 

 SM_STATUS smAppendSMCommandToQueue( smbus handle, int smpCmdType,smint32 paramvalue  )

 {

-    smuint8 txbyte;

     int cmdlength;

 

     //check if bus handle is valid & opened

@@ -452,12 +454,6 @@ SM_STATUS smAppendSMCommandToQueue( smbus handle, int smpCmdType,smint32 paramva
         SMPayloadCommand16 newcmd;

         newcmd.ID=SMPCMD_SETPARAMADDR;

         newcmd.param=paramvalue;

-

-        //          bufput8bit( smBus[handle].recv_rsbuf, smBus[handle].cmd_send_queue_bytes, 5);

-        //            bufput8bit( smBus[handle].recv_rsbuf, smBus[handle].cmd_send_queue_bytes, 6);

-        /*

-FIXME

-            ei toimi, menee vaa nollaa*/

         bufput8bit( smBus[handle].recv_rsbuf, smBus[handle].cmd_send_queue_bytes++, ((unsigned char*)&newcmd)[1]);

         bufput8bit( smBus[handle].recv_rsbuf, smBus[handle].cmd_send_queue_bytes++, ((unsigned char*)&newcmd)[0]);

     }

@@ -945,3 +941,11 @@ void resetCumulativeStatus( const smbus handle )
     smBus[handle].cumulativeSmStatus=0;

 }

 

+//fast method for buffered motion stream, this provides limited return data and feeds all drives simultaneously

+SM_STATUS smTransmitAndReceiveFastBufferedCommand( const smbus handle, const smaddr nodeAddress, smint16 &clockOut, smint16 &bufferfreeOut )

+{

+

+

+

+}

+