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-rw-r--r--cphidgetstepper.c374
1 files changed, 211 insertions, 163 deletions
diff --git a/cphidgetstepper.c b/cphidgetstepper.c
index 0da3dc6..966da07 100644
--- a/cphidgetstepper.c
+++ b/cphidgetstepper.c
@@ -55,39 +55,41 @@ CPHIDGETINIT(Stepper)
phid->outputPacketLen = 0;
//Setup max/min values
- switch(phid->phid.deviceIDSpec)
+ switch(phid->phid.deviceUID)
{
- case PHIDID_UNIPOLAR_STEPPER_4MOTOR:
- if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200))
- {
- phid->microSteps = 2;
- phid->motorSpeedMax = ((phid->microSteps * 0x100) - 1) * 0.75;
- phid->motorSpeedMin = 0;
- phid->accelerationMax = (250 * (0.75 * 0.75)) * 0x3f;
- phid->accelerationMin = (250 * (0.75 * 0.75));
- phid->motorPositionMax = 0x7FFFFFFFFFLL;
- phid->motorPositionMin = -0x7FFFFFFFFFLL;
- phid->currentMax = PUNK_DBL;
- phid->currentMin = PUNK_DBL;
- }
- else
- return EPHIDGET_BADVERSION;
+ case PHIDUID_STEPPER_UNIPOLAR_4MOTOR:
+ phid->microSteps = 2;
+ phid->motorSpeedMax = ((phid->microSteps * 0x100) - 1) * 0.75;
+ phid->motorSpeedMin = 0;
+ phid->accelerationMax = (250 * (0.75 * 0.75)) * 0x3f;
+ phid->accelerationMin = (250 * (0.75 * 0.75));
+ phid->motorPositionMax = 0x7FFFFFFFFFLL;
+ phid->motorPositionMin = -0x7FFFFFFFFFLL;
+ phid->currentMax = PUNK_DBL;
+ phid->currentMin = PUNK_DBL;
break;
- case PHIDID_BIPOLAR_STEPPER_1MOTOR:
- if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200))
- {
- phid->microSteps = 16;
- phid->motorSpeedMax = 8 * phid->microSteps * 0x100; //0x8000
- phid->motorSpeedMin = 0;
- phid->accelerationMax = 4000 * 0xff;
- phid->accelerationMin = 4000;
- phid->motorPositionMax = 0x7FFFFFFFFFLL;
- phid->motorPositionMin = -0x7FFFFFFFFFLL;
- phid->currentMax = 2.492;
- phid->currentMin = 0.0542;
- }
- else
- return EPHIDGET_BADVERSION;
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR:
+ phid->microSteps = 16;
+ phid->motorSpeedMax = 8 * phid->microSteps * 0x100; //0x8000
+ phid->motorSpeedMin = 0;
+ phid->accelerationMax = 4000 * 0xff;
+ phid->accelerationMin = 4000;
+ phid->motorPositionMax = 0x7FFFFFFFFFLL;
+ phid->motorPositionMin = -0x7FFFFFFFFFLL;
+ phid->currentMax = 2.492;
+ phid->currentMin = 0.0542;
+ break;
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3:
+ phid->microSteps = 16;
+ //phid->motorSpeedMax = 262144; //8x 1062_1
+ phid->motorSpeedMax = 250000; //nice round number
+ phid->motorSpeedMin = 0;
+ phid->accelerationMax = 10000000;
+ phid->accelerationMin = 2;
+ phid->motorPositionMax = 1000000000000000LL; // +-1 Quadrillion - enough for 211 years at max speed
+ phid->motorPositionMin = -1000000000000000LL;
+ phid->currentMax = 4;
+ phid->currentMin = 0;
break;
default:
return EPHIDGET_UNEXPECTED;
@@ -113,7 +115,7 @@ CPHIDGETINIT(Stepper)
CPhidget_read((CPhidgetHandle)phid);
//At this point, we can only recover (maybe) the position, engaged state, set others to unknown
- for (i = 0; i<phid->phid.attr.advancedservo.numMotors; i++)
+ for (i = 0; i<phid->phid.attr.stepper.numMotors; i++)
{
phid->motorPosition[i] = phid->motorPositionEcho[i];
phid->motorEngagedState[i] = phid->motorEngagedStateEcho[i];
@@ -152,39 +154,33 @@ CPHIDGETDATA(Stepper)
ZEROMEM(lastInput, sizeof(lastInput));
//Parse device packets - store data locally
- switch(phid->phid.deviceIDSpec)
+ switch(phid->phid.deviceUID)
{
- case PHIDID_UNIPOLAR_STEPPER_4MOTOR:
- if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200))
+ case PHIDUID_STEPPER_UNIPOLAR_4MOTOR:
+ for (i = 0; i < phid->phid.attr.stepper.numMotors; i++)
{
- for (i = 0; i < phid->phid.attr.stepper.numMotors; i++)
- {
- phid->packetCounterEcho[i] = buffer[0+(i*9)] & 0x0F;
- motorEngaged[i] = (buffer[0+(i*9)] & MOTOR_DISABLED_STEPPER) ? PFALSE : PTRUE;
- motorDone[i] = (buffer[0+(i*9)] & MOTOR_DONE_STEPPER) ? PTRUE : PFALSE;
+ phid->packetCounterEcho[i] = buffer[0+(i*9)] & 0x0F;
+ motorEngaged[i] = (buffer[0+(i*9)] & MOTOR_DISABLED_STEPPER) ? PFALSE : PTRUE;
+ motorDone[i] = (buffer[0+(i*9)] & MOTOR_DONE_STEPPER) ? PTRUE : PFALSE;
- speed[i] = (double)((signed short)((buffer[1+(i*9)] << 8) | buffer[2+(i*9)]));
- speed[i] = (double)((speed[i] / 511.0) * phid->motorSpeedMax);
+ speed[i] = (double)((signed short)((buffer[1+(i*9)] << 8) | buffer[2+(i*9)]));
+ speed[i] = (double)((speed[i] / 511.0) * phid->motorSpeedMax);
- position[i] = ((((__int64)(signed char)buffer[3+(i*9)]) << 40) +
- (((__uint64)buffer[4+(i*9)]) << 32) +
- (((__uint64)buffer[5+(i*9)]) << 24) +
- (((__uint64)buffer[6+(i*9)]) << 16) +
- (((__uint64)buffer[7+(i*9)]) << 8) +
- ((__uint64)buffer[8+(i*9)]));
+ position[i] = ((((__int64)(signed char)buffer[3+(i*9)]) << 40) +
+ (((__uint64)buffer[4+(i*9)]) << 32) +
+ (((__uint64)buffer[5+(i*9)]) << 24) +
+ (((__uint64)buffer[6+(i*9)]) << 16) +
+ (((__uint64)buffer[7+(i*9)]) << 8) +
+ ((__uint64)buffer[8+(i*9)]));
- position[i] -= 0x20; //round
- position[i] >>= 6;
+ position[i] -= 0x20; //round
+ position[i] >>= 6;
- //current is not returned
- current[i] = PUNK_DBL;
- }
+ //current is not returned
+ current[i] = PUNK_DBL;
}
- else
- return EPHIDGET_UNEXPECTED;
break;
- case PHIDID_BIPOLAR_STEPPER_1MOTOR:
- if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200))
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR:
{
double Vad;
phid->packetCounterEcho[0] = buffer[0] & 0x0F;
@@ -218,8 +214,25 @@ CPHIDGETDATA(Stepper)
Vad = (((unsigned char)buffer[10] * 4.16 ) / 255.0); // The voltage sensed, to a max of 4.16v
current[0] = round_double((Vad / (BIPOLAR_STEPPER_CURRENT_SENSE_GAIN * BIPOLAR_STEPPER_CURRENT_LIMIT_Rs)), 3);
}
- else
- return EPHIDGET_UNEXPECTED;
+ break;
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3:
+ {
+ phid->packetCounterEcho[0] = buffer[0] & 0x0F;
+ motorEngaged[0] = (buffer[0] & MOTOR_DISABLED_STEPPER) ? PFALSE : PTRUE;
+ motorDone[0] = (buffer[0] & MOTOR_DONE_STEPPER) ? PTRUE : PFALSE;
+
+ //24.8 floating point format
+ speed[0] = (double)( ((signed int)((((signed char)buffer[1]) << 24) | (buffer[2] << 16) | (buffer[3] << 8) | buffer[4])) / 256.0);
+
+ position[0] = ((((__int64)(signed char)buffer[5]) << 56) +
+ (((__uint64)buffer[6]) << 48) +
+ (((__uint64)buffer[7]) << 40) +
+ (((__uint64)buffer[8]) << 32) +
+ (((__uint64)buffer[9]) << 24) +
+ (((__uint64)buffer[10]) << 16) +
+ (((__uint64)buffer[11]) << 8) +
+ ((__uint64)buffer[12]));
+ }
break;
default:
return EPHIDGET_UNEXPECTED;
@@ -372,11 +385,63 @@ CMAKEPACKETINDEXED(Stepper)
return EPHIDGET_UNEXPECTED;
}
- switch(phid->phid.deviceIDSpec)
+ switch(phid->phid.deviceUID)
{
- case PHIDID_UNIPOLAR_STEPPER_4MOTOR:
- if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200))
+ case PHIDUID_STEPPER_UNIPOLAR_4MOTOR:
+ //2-bit index, 2-bit packet type, 4-bit counter
+ buffer[0] = (Index << 6) | packet_type | phid->packetCounter[Index];
+ //flags
+ buffer[1] = flags;
+
+ switch(packet_type)
+ {
+ case STEPPER_POSITION_PACKET:
+ position = phid->motorPosition[Index] << 6;
+ position += 0x20;
+
+ //48-bit position
+ buffer[2] = (unsigned char)(position >> 40);
+ buffer[3] = (unsigned char)(position >> 32);
+ buffer[4] = (unsigned char)(position >> 24);
+ buffer[5] = (unsigned char)(position >> 16);
+ buffer[6] = (unsigned char)(position >> 8);
+ buffer[7] = (unsigned char)(position);
+ break;
+ case STEPPER_VEL_ACCEL_PACKET:
+ accel = (unsigned char)round((phid->motorAcceleration[Index]/phid->accelerationMax) * 63.0);
+ speed = (unsigned short)round((phid->motorSpeed[Index]/phid->motorSpeedMax) * 511.0);
+
+ //6-bit acceleration
+ buffer[2] = accel;
+ //9-bit speed
+ buffer[3] = speed >> 8;
+ buffer[4] = speed & 0xFF;
+ //not used
+ buffer[5] = 0;
+ buffer[6] = 0;
+ buffer[7] = 0;
+ break;
+ case STEPPER_RESET_PACKET:
+ position = phid->motorPositionReset[Index] << 6;
+ position += 0x20;
+
+ //48-bit position
+ buffer[2] = (unsigned char)(position >> 40);
+ buffer[3] = (unsigned char)(position >> 32);
+ buffer[4] = (unsigned char)(position >> 24);
+ buffer[5] = (unsigned char)(position >> 16);
+ buffer[6] = (unsigned char)(position >> 8);
+ buffer[7] = (unsigned char)(position);
+ break;
+ default:
+ return EPHIDGET_UNEXPECTED;
+ }
+ break;
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR:
{
+ unsigned char currentLimit = 0;
+ double Vref;
+
//2-bit index, 2-bit packet type, 4-bit counter
buffer[0] = (Index << 6) | packet_type | phid->packetCounter[Index];
//flags
@@ -385,8 +450,8 @@ CMAKEPACKETINDEXED(Stepper)
switch(packet_type)
{
case STEPPER_POSITION_PACKET:
- position = phid->motorPosition[Index] << 6;
- position += 0x20;
+ position = phid->motorPosition[Index] << 3;
+ position += 0x04;
//48-bit position
buffer[2] = (unsigned char)(position >> 40);
@@ -397,22 +462,33 @@ CMAKEPACKETINDEXED(Stepper)
buffer[7] = (unsigned char)(position);
break;
case STEPPER_VEL_ACCEL_PACKET:
- accel = (unsigned char)round((phid->motorAcceleration[Index]/phid->accelerationMax) * 63.0);
- speed = (unsigned short)round((phid->motorSpeed[Index]/phid->motorSpeedMax) * 511.0);
+ if(phid->motorCurrentLimit[Index] == PUNK_DBL)
+ phid->motorCurrentLimit[Index] = 0.50; //choose 500mA - should at least work for the most part
+
+ accel = (unsigned char)round((phid->motorAcceleration[Index]/phid->accelerationMax) * 255.0);
+ speed = (unsigned short)round((phid->motorSpeed[Index]/phid->motorSpeedMax) * 4095.0);
- //6-bit acceleration
+ // highest Vref is 3v (2.5A limit as defined by stepping chip)
+ // The 8 is defined by the stepping chip - (ItripMAX = Vref/8Rs)
+ Vref = phid->motorCurrentLimit[Index] * 8 * BIPOLAR_STEPPER_CURRENT_LIMIT_Rs;
+ // DAC output is 0-63 = 0-4.16v, highest value is 45 (3v)
+ // 2.08 = Vbandgap * 1.6
+ currentLimit = (unsigned char)round( (((Vref - 2.08)/2.08) * 32) + 31 );
+
+ //8-bit acceleration
buffer[2] = accel;
- //9-bit speed
+ //12-bit speed
buffer[3] = speed >> 8;
buffer[4] = speed & 0xFF;
+ //6-bit current limit
+ buffer[5] = currentLimit;
//not used
- buffer[5] = 0;
buffer[6] = 0;
buffer[7] = 0;
break;
case STEPPER_RESET_PACKET:
- position = phid->motorPositionReset[Index] << 6;
- position += 0x20;
+ position = phid->motorPositionReset[Index] << 3;
+ position += 0x04;
//48-bit position
buffer[2] = (unsigned char)(position >> 40);
@@ -426,14 +502,11 @@ CMAKEPACKETINDEXED(Stepper)
return EPHIDGET_UNEXPECTED;
}
}
- else
- return EPHIDGET_UNEXPECTED;
break;
- case PHIDID_BIPOLAR_STEPPER_1MOTOR:
- if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200))
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3:
{
unsigned char currentLimit = 0;
- double Vref;
+ int accelInt, velInt;
//2-bit index, 2-bit packet type, 4-bit counter
buffer[0] = (Index << 6) | packet_type | phid->packetCounter[Index];
@@ -443,60 +516,55 @@ CMAKEPACKETINDEXED(Stepper)
switch(packet_type)
{
case STEPPER_POSITION_PACKET:
- position = phid->motorPosition[Index] << 3;
- position += 0x04;
-
- //48-bit position
- buffer[2] = (unsigned char)(position >> 40);
- buffer[3] = (unsigned char)(position >> 32);
- buffer[4] = (unsigned char)(position >> 24);
- buffer[5] = (unsigned char)(position >> 16);
- buffer[6] = (unsigned char)(position >> 8);
- buffer[7] = (unsigned char)(position);
+ //64-bit position
+ buffer[2] = (unsigned char)(phid->motorPosition[Index] >> 56);
+ buffer[3] = (unsigned char)(phid->motorPosition[Index] >> 48);
+ buffer[4] = (unsigned char)(phid->motorPosition[Index] >> 40);
+ buffer[5] = (unsigned char)(phid->motorPosition[Index] >> 32);
+ buffer[6] = (unsigned char)(phid->motorPosition[Index] >> 24);
+ buffer[7] = (unsigned char)(phid->motorPosition[Index] >> 16);
+ buffer[8] = (unsigned char)(phid->motorPosition[Index] >> 8);
+ buffer[9] = (unsigned char)(phid->motorPosition[Index]);
break;
case STEPPER_VEL_ACCEL_PACKET:
if(phid->motorCurrentLimit[Index] == PUNK_DBL)
phid->motorCurrentLimit[Index] = 0.50; //choose 500mA - should at least work for the most part
- accel = (unsigned char)round((phid->motorAcceleration[Index]/phid->accelerationMax) * 255.0);
- speed = (unsigned short)round((phid->motorSpeed[Index]/phid->motorSpeedMax) * 4096.0);
+ accelInt = (int)phid->motorAcceleration[Index];
+ velInt = (int)phid->motorSpeed[Index];
+ currentLimit = (unsigned char)round((phid->motorCurrentLimit[Index]/phid->currentMax) * 255.0);
- // highest Vref is 3v (2.5A limit as defined by stepping chip)
- // The 8 is defined by the stepping chip - (ItripMAX = Vref/8Rs)
- Vref = phid->motorCurrentLimit[Index] * 8 * BIPOLAR_STEPPER_CURRENT_LIMIT_Rs;
- // DAC output is 0-63 = 0-4.16v, highest value is 45 (3v)
- // 2.08 = Vbandgap * 1.6
- currentLimit = (unsigned char)round( (((Vref - 2.08)/2.08) * 32) + 31 );
+ //3-byte acceleration
+ buffer[2] = accelInt >> 16;
+ buffer[3] = accelInt >> 8;
+ buffer[4] = accelInt;
+
+ //3-byte velocity
+ buffer[5] = velInt >> 16;
+ buffer[6] = velInt >> 8;
+ buffer[7] = velInt;
+
+ //8-bit current limit
+ buffer[8] = currentLimit;
- //8-bit acceleration
- buffer[2] = accel;
- //12-bit speed
- buffer[3] = speed >> 8;
- buffer[4] = speed & 0xFF;
- //6-bit current limit
- buffer[5] = currentLimit;
//not used
- buffer[6] = 0;
- buffer[7] = 0;
+ buffer[9] = 0;
break;
case STEPPER_RESET_PACKET:
- position = phid->motorPositionReset[Index] << 3;
- position += 0x04;
-
- //48-bit position
- buffer[2] = (unsigned char)(position >> 40);
- buffer[3] = (unsigned char)(position >> 32);
- buffer[4] = (unsigned char)(position >> 24);
- buffer[5] = (unsigned char)(position >> 16);
- buffer[6] = (unsigned char)(position >> 8);
- buffer[7] = (unsigned char)(position);
+ //64-bit position
+ buffer[2] = (unsigned char)(phid->motorPositionReset[Index] >> 56);
+ buffer[3] = (unsigned char)(phid->motorPositionReset[Index] >> 48);
+ buffer[4] = (unsigned char)(phid->motorPositionReset[Index] >> 40);
+ buffer[5] = (unsigned char)(phid->motorPositionReset[Index] >> 32);
+ buffer[6] = (unsigned char)(phid->motorPositionReset[Index] >> 24);
+ buffer[7] = (unsigned char)(phid->motorPositionReset[Index] >> 16);
+ buffer[8] = (unsigned char)(phid->motorPositionReset[Index] >> 8);
+ buffer[9] = (unsigned char)(phid->motorPositionReset[Index]);
break;
default:
return EPHIDGET_UNEXPECTED;
}
}
- else
- return EPHIDGET_UNEXPECTED;
break;
default:
return EPHIDGET_UNEXPECTED;
@@ -778,20 +846,16 @@ CGETINDEX(Stepper,Current,double)
TESTDEVICETYPE(PHIDCLASS_STEPPER)
TESTATTACHED
- //only the bipolar has current sense
- switch(phid->phid.deviceIDSpec)
+ //only the original bipolar has current sense
+ switch(phid->phid.deviceUID)
{
- case PHIDID_BIPOLAR_STEPPER_1MOTOR:
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR:
TESTINDEX(phid.attr.stepper.numMotors)
- if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200))
- {
- TESTMASGN(motorSensedCurrent[Index], PUNK_DBL)
- MASGN(motorSensedCurrent[Index])
- }
- else
- return EPHIDGET_UNEXPECTED;
+ TESTMASGN(motorSensedCurrent[Index], PUNK_DBL)
+ MASGN(motorSensedCurrent[Index])
break;
- case PHIDID_UNIPOLAR_STEPPER_4MOTOR:
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3:
+ case PHIDUID_STEPPER_UNIPOLAR_4MOTOR:
default:
return EPHIDGET_UNSUPPORTED;
}
@@ -803,19 +867,15 @@ CGETINDEX(Stepper,CurrentLimit,double)
TESTATTACHED
//only the bipolar has currentLimit
- switch(phid->phid.deviceIDSpec)
+ switch(phid->phid.deviceUID)
{
- case PHIDID_BIPOLAR_STEPPER_1MOTOR:
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR:
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3:
TESTINDEX(phid.attr.stepper.numMotors)
- if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200))
- {
- TESTMASGN(motorCurrentLimit[Index], PUNK_DBL)
- MASGN(motorCurrentLimit[Index])
- }
- else
- return EPHIDGET_UNEXPECTED;
+ TESTMASGN(motorCurrentLimit[Index], PUNK_DBL)
+ MASGN(motorCurrentLimit[Index])
break;
- case PHIDID_UNIPOLAR_STEPPER_4MOTOR:
+ case PHIDUID_STEPPER_UNIPOLAR_4MOTOR:
default:
return EPHIDGET_UNSUPPORTED;
}
@@ -826,22 +886,18 @@ CSETINDEX(Stepper,CurrentLimit,double)
TESTATTACHED
//only the bipolar has currentLimit
- switch(phid->phid.deviceIDSpec)
+ switch(phid->phid.deviceUID)
{
- case PHIDID_BIPOLAR_STEPPER_1MOTOR:
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR:
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3:
TESTINDEX(phid.attr.stepper.numMotors)
TESTRANGE(phid->currentMin, phid->currentMax)
- if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200))
- {
- if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))
- ADDNETWORKKEYINDEXED(CurrentLimit, "%lE", motorCurrentLimit);
- else
- SENDPACKETINDEXED(Stepper, motorCurrentLimit[Index], Index + STEPPER_VEL_ACCEL_PACKET);
- }
+ if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))
+ ADDNETWORKKEYINDEXED(CurrentLimit, "%lE", motorCurrentLimit);
else
- return EPHIDGET_UNEXPECTED;
+ SENDPACKETINDEXED(Stepper, motorCurrentLimit[Index], Index + STEPPER_VEL_ACCEL_PACKET);
break;
- case PHIDID_UNIPOLAR_STEPPER_4MOTOR:
+ case PHIDUID_STEPPER_UNIPOLAR_4MOTOR:
default:
return EPHIDGET_UNSUPPORTED;
}
@@ -855,19 +911,15 @@ CGETINDEX(Stepper,CurrentMax,double)
TESTATTACHED
//only the bipolar has current
- switch(phid->phid.deviceIDSpec)
+ switch(phid->phid.deviceUID)
{
- case PHIDID_BIPOLAR_STEPPER_1MOTOR:
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR:
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3:
TESTINDEX(phid.attr.stepper.numMotors)
- if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200))
- {
TESTMASGN(currentMax, PUNK_DBL)
MASGN(currentMax)
- }
- else
- return EPHIDGET_UNEXPECTED;
break;
- case PHIDID_UNIPOLAR_STEPPER_4MOTOR:
+ case PHIDUID_STEPPER_UNIPOLAR_4MOTOR:
default:
return EPHIDGET_UNSUPPORTED;
}
@@ -879,19 +931,15 @@ CGETINDEX(Stepper,CurrentMin,double)
TESTATTACHED
//only the bipolar has current
- switch(phid->phid.deviceIDSpec)
+ switch(phid->phid.deviceUID)
{
- case PHIDID_BIPOLAR_STEPPER_1MOTOR:
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR:
+ case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3:
TESTINDEX(phid.attr.stepper.numMotors)
- if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200))
- {
TESTMASGN(currentMin, PUNK_DBL)
MASGN(currentMin)
- }
- else
- return EPHIDGET_UNEXPECTED;
break;
- case PHIDID_UNIPOLAR_STEPPER_4MOTOR:
+ case PHIDUID_STEPPER_UNIPOLAR_4MOTOR:
default:
return EPHIDGET_UNSUPPORTED;
}