public bool Initialize(PoKeysStepperBoardConfiguration config, int?pokeysIndex)
{
if (Initialized)
{
return(false);
}
if (poKeysDevice == null)
{
if (!pokeysIndex.HasValue)
{
return(false);
}
poKeysDevice = PoKeysEnumerator.Singleton.PoKeysDevice;
if (!poKeysDevice.ConnectToDevice(pokeysIndex.Value))
{
Error = Translations.Main.PokeysConnectError;
return(false);
}
}
// Configure the positioning device...
poKeysDevice.PEv2_GetStatus(ref PE);
for (int i = 0; i < 8; i++)
{
PE.param1 = (byte)i;
poKeysDevice.PEv2_GetAxisConfiguration(ref PE);
}
UpdateConfiguration(config);
//
// Change Pulse Engine State to RUNNING
//
PE.PulseEngineStateSetup = (byte)ePoKeysPEState.peRUNNING;
poKeysDevice.PEv2_SetState(ref PE);
//
// Get Pulse Engine Statue and Check to confirm we are RUNNING
//
poKeysDevice.PEv2_GetStatus(ref PE);
StepperRunning = (PE.PulseEngineState == (byte)ePoKeysPEState.peRUNNING);
Initialized = true;
if (posThread == null)
{
posThread = new Thread(new ThreadStart(StepperPositioningThreadStub));
posThread.Start();
}
return(true);
}
public void UpdateConfiguration(PoKeysStepperBoardConfiguration config)
{
StepperBoardConfig = config;
// Configure pulse engine with 8 axes
PE.PulseEngineEnabled = 8;
PE.PulseGeneratorType = (byte)(0 | (1 << 7)); // Using external pulse generator with IO
PE.ChargePumpEnabled = 0; // Don't use charge pump output
//config.EmergencySwitchPin = 0; // No Emergency Switch Pin
// // 0 - disabled i.e. none
// // 1 - default input Pin 55
// // 10 + 10-based pin ID
PE.EmergencySwitchPolarity = (byte)(StepperBoardConfig.InvertEmergencySwitchPolarity ? 1 : 0);
poKeysDevice.PEv2_SetupPulseEngine(ref PE);
// Configure axes...
for (int i = 0; i < 8; i++)
{
//
// Set Axis Configuration variables
//
PE.AxisEnabledInvertMask[i] = 1; // Use inverted axis enabled signal for PoStep drivers ???
PE.AxesConfig[i] = (byte)(ePEv2_AxisConfig.aoENABLED |
ePEv2_AxisConfig.aoINTERNAL_PLANNER |
ePEv2_AxisConfig.aoPOSITION_MODE); // Use Position mode
poKeysDevice.PEv2_GetStatus(ref PE); // Get Status just to DEBUG - Remove for F4toPokeys code
//
// Enable Soft Limits for steppers with STOPs
// - Need to determine which steppers need this from the Config GUI
//
PE.AxesConfig[i] |= (int)ePEv2_AxisConfig.aoSOFT_LIMIT_ENABLED;
poKeysDevice.PEv2_GetStatus(ref PE); // Get Status just to DEBUG - Remove for F4toPokeys code
//
// My stepper is wired backwards so I added this.
// We may want to have a REVERSE Direction option as GUI Config Option
//
if (StepperBoardConfig.AxisConfig[i].Inverted)
{
PE.AxesConfig[i] |= (int)ePEv2_AxisConfig.aoINVERTED;
}
if (StepperBoardConfig.AxisConfig[i].HomeInverted)
{
PE.AxesConfig[i] |= (int)ePEv2_AxisConfig.aoINVERTED_HOME;
}
if (StepperBoardConfig.AxisConfig[i].HasHomeSwitch)
{
PE.PinHomeSwitch[i] = (byte)StepperBoardConfig.AxisConfig[i].PinHomeSwitch;
PE.AxesSwitchConfig[i] = (byte)ePEv2_AxisSwitchOptions.aoSWITCH_HOME;
}
else
{
PE.PinHomeSwitch[i] = 0;
PE.AxesSwitchConfig[i] = (byte)(ePEv2_AxisSwitchOptions.aoSWITCH_HOME | ePEv2_AxisSwitchOptions.aoSWITCH_INVERT_HOME);
}
poKeysDevice.PEv2_GetStatus(ref PE); // Get Status just to DEBUG - Remove for F4toPokeys code
//
// Set Axis Switch Configuration variables
//
PE.AxesSwitchConfig[i] = (int)(ePEv2_AxisSwitchOptions.aoSWITCH_HOME |
ePEv2_AxisSwitchOptions.aoSWITCH_INVERT_HOME);
poKeysDevice.PEv2_GetStatus(ref PE); // Get Status just to DEBUG - Remove for F4toPokeys code
//
// Set Axis Variables
//
//
// GUI Configuration Option
// - If stepper is 360 degree with a HOME switch we need a GUI configuration option that the pin for the axis.
//
if (StepperBoardConfig.AxisConfig[i].HasHomeSwitch)
{
PE.PinHomeSwitch[i] = (byte)StepperBoardConfig.AxisConfig[i].PinHomeSwitch;// Convert.ToByte(i + 8); // For testing, use Pins 8 - 15 as Home Switches for stepper 0 - 7
}
else
{
PE.PinHomeSwitch[i] = 0;
}
//config.PinHomeSwitch[i] = 8; // #Matevz#: select pin 8 for the home switch for this single axis
PE.HomingSpeed[i] = (byte)StepperBoardConfig.AxisConfig[i].HomingSpeed; // 50; // #Matevz#: homing speed is 50% of the maximum speed
PE.HomingReturnSpeed[i] = (byte)StepperBoardConfig.AxisConfig[i].HomingReturnSpeed; // 20; // #Matevz#: homing return speed is 20% of the homing speed (therefore 10% of the max speed)
PE.MaxSpeed[i] = StepperBoardConfig.AxisConfig[i].MaxSpeed; // 10; // Max speed: 15 kHz
PE.MaxAcceleration[i] = StepperBoardConfig.AxisConfig[i].MaxAcceleration; // 0.010f; // Acceleration: 15 kHz / s
PE.MaxDecceleration[i] = StepperBoardConfig.AxisConfig[i].MaxDecceleration; // 0.010f; // Acceleration: 15 kHz / s
//
// Set Soft Limits to 315 degree (3780 steps) X27 stepper position limits
PE.SoftLimitMaximum[i] = StepperBoardConfig.AxisConfig[i].SoftLimitMaximum; // 3780; // 315 degree
PE.SoftLimitMinimum[i] = StepperBoardConfig.AxisConfig[i].SoftLimitMinimum; // 0; // 0 degree
PE.param1 = (byte)i; // Set parameter param1 to the bit mask to indicate what have the above Axis Configs set
//
// Write (Set) above Axis Configuration
//
poKeysDevice.PEv2_SetAxisConfiguration(ref PE); // Configure the axis
}
}