diff options
Diffstat (limited to 'simplemotion.c')
| -rw-r--r-- | simplemotion.c | 18 |
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 )
+{
+
+
+
+}
+
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