devel: added code to find Amp1394 revision using CMake and c-preproce…

…ssor, change encoder position API to return a signed int related to encoder mid-range

Amp1394Config.cmake.in

@@ -3,10 +3,16 @@
 #  Amp1394_INCLUDE_DIR  - include directories for Amp1394
 #  Amp1394_LIBRARY_DIR  - link library directories for Amp1394
 #  Amp1394_LIBRARIES    - libraries to link against
+
+# Version
+set (Amp1394_VERSION_MAJOR "@Amp1394_VERSION_MAJOR@")
+set (Amp1394_VERSION_MINOR "@Amp1394_VERSION_MINOR@")
+set (Amp1394_VERSION_PATCH "@Amp1394_VERSION_PATCH@")
+set (Amp1394_VERSION "@Amp1394_VERSION")
 
 # Compute paths
-set(Amp1394_INCLUDE_DIR "@CONF_INCLUDE_DIR@")
-set(Amp1394_LIBRARY_DIR "@CONF_LIBRARY_DIR@")
+set (Amp1394_INCLUDE_DIR "@CONF_INCLUDE_DIR@")
+set (Amp1394_LIBRARY_DIR "@CONF_LIBRARY_DIR@")
 
 # These are IMPORTED targets created by Amp1394Targets.cmake
-set(Amp1394_LIBRARIES Amp1394)
+set (Amp1394_LIBRARIES Amp1394)

CMakeLists.txt

@@ -1,7 +1,5 @@
 #
-# $Id$
-#
-# (C) Copyright 2011-2012 Johns Hopkins University (JHU), All Rights Reserved.
+# (C) Copyright 2011-2015 Johns Hopkins University (JHU), All Rights Reserved.
 #
 # --- begin cisst license - do not edit ---
 #
@@ -11,9 +9,15 @@
 #
 # --- end cisst license ---
 
-project(Mechatronics)
+project (Mechatronics)
+
+cmake_minimum_required (VERSION 2.6)
 
-cmake_minimum_required(VERSION 2.6)
+# Set the version number
+set (Amp1394_VERSION_MAJOR "1")
+set (Amp1394_VERSION_MINOR "1")
+set (Amp1394_VERSION_PATCH "0")
+set (Amp1394_VERSION "${Amp1394_VERSION_MAJOR}.${Amp1394_VERSION_MINOR}.${Amp1394_VERSION_PATCH}")
 
 # Add some warnings
 include (CheckCXXCompilerFlag)
@@ -28,22 +32,27 @@ if (CXX_SUPPORTS_WALL)
 endif (CXX_SUPPORTS_WALL)
 
 # ... for the build tree
-set(CONF_INCLUDE_DIR "${PROJECT_SOURCE_DIR}/lib")
-set(CONF_LIBRARY_DIR "${PROJECT_BINARY_DIR}/lib")
-configure_file(Amp1394Config.cmake.in
-  "${PROJECT_BINARY_DIR}/Amp1394Config.cmake" @ONLY)
+set (CONF_INCLUDE_DIR "${PROJECT_SOURCE_DIR}/lib" "${CMAKE_CURRENT_BINARY_DIR}")
+set (CONF_LIBRARY_DIR "${PROJECT_BINARY_DIR}/lib")
+configure_file (Amp1394Config.cmake.in
+                "${PROJECT_BINARY_DIR}/Amp1394Config.cmake" @ONLY)
+
+# revision file
+configure_file ("${CMAKE_CURRENT_SOURCE_DIR}/lib/AmpIORevision.h.in"
+                "${CMAKE_CURRENT_BINARY_DIR}/Amp1394/AmpIORevision.h")
 
 # To find Amp1394 library headers
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/lib)
+include_directories (${CMAKE_CURRENT_SOURCE_DIR}/lib
+                     ${CMAKE_CURRENT_BINARY_DIR})
 
 # To link with build libraries
-link_directories(${CMAKE_CURRENT_BINARY_DIR})
+link_directories (${CMAKE_CURRENT_BINARY_DIR})
 
 # Utilities to test libraw1394
-add_subdirectory(util)
+add_subdirectory (util)
 
 # Code for library Amp1394
-add_subdirectory(lib)
+add_subdirectory (lib)
 
 # Test program using curse for text based display
 find_package (Curses)
@@ -54,4 +63,4 @@ else (CURSES_FOUND)
 endif (CURSES_FOUND)
 
 # Utility to flash/test board
-add_subdirectory(programmer)
+add_subdirectory (programmer)

lib/AmpIO.h

@@ -4,7 +4,7 @@
 /*
   Author(s):  Zihan Chen
 
-  (C) Copyright 2011-2014 Johns Hopkins University (JHU), All Rights Reserved.
+  (C) Copyright 2011-2015 Johns Hopkins University (JHU), All Rights Reserved.
 
 --- begin cisst license - do not edit ---
 
@@ -19,12 +19,16 @@ no warranty.  The complete license can be found in license.txt and
 #ifndef __AMPIO_H__
 #define __AMPIO_H__
 
+#include <Amp1394/AmpIORevision.h>
+
 #include "BoardIO.h"
 #include <stdint.h> // for uint32_t
 #include <iostream>
 
 class ostream;
 
+
+typedef int32_t  AmpIO_Int32;
 typedef uint32_t AmpIO_UInt32;
 typedef uint16_t AmpIO_UInt16;
 typedef uint8_t AmpIO_UInt8;
@@ -67,7 +71,12 @@ class AmpIO : public BoardIO
     //@{
     AmpIO_UInt8 GetEncoderChannelA(void) const;
     bool GetEncoderChannelA(unsigned int index) const;
+
     AmpIO_UInt8 GetEncoderChannelB(void) const;
+    bool GetEncoderChannelB(unsigned int index) const;
+
+    bool GetEncoderOverflow(unsigned int index) const;
+
     AmpIO_UInt8 GetEncoderIndex(void) const;
     //@}
 
@@ -79,10 +88,12 @@ class AmpIO : public BoardIO
 
     AmpIO_UInt32 GetAnalogInput(unsigned int index) const;
 
-    AmpIO_UInt32 GetEncoderPosition(unsigned int index) const;
+    AmpIO_Int32 GetEncoderPosition(unsigned int index) const;
 
     AmpIO_UInt32 GetEncoderVelocity(unsigned int index, const bool islatch = true) const;
 
+    AmpIO_Int32 GetEncoderMidRange(void) const;
+
     // GetPowerStatus: returns true if motor power supply voltage
     // is present on the QLA. If not present, it could be because
     // power is disabled or the power supply is off.
@@ -138,7 +149,7 @@ class AmpIO : public BoardIO
 
     bool WriteSafetyRelay(bool state);
 
-    bool WriteEncoderPreload(unsigned int index, AmpIO_UInt32 enc);
+    bool WriteEncoderPreload(unsigned int index, AmpIO_Int32 enc);
 
     bool WriteDigitalOutput(AmpIO_UInt8 mask, AmpIO_UInt8 bits);
 

lib/AmpIORevision.h.in

@@ -0,0 +1,30 @@
+/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
+/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */
+
+/*
+  Author(s):  Anton Deguet
+  Created on: 2014-04-10
+
+  (C) Copyright 2015 Johns Hopkins University (JHU), All Rights Reserved.
+
+--- begin cisst license - do not edit ---
+
+This software is provided "as is" under an open source license, with
+no warranty.  The complete license can be found in license.txt and
+http://www.cisst.org/cisst/license.txt.
+
+--- end cisst license ---
+
+*/
+
+#pragma once
+
+#ifndef _AmpIORevision_h
+#define _AmpIORevision_h
+
+#define Amp1394_VERSION_MAJOR ${Amp1394_VERSION_MAJOR}
+#define Amp1394_VERSION_MINOR ${Amp1394_VERSION_MINOR}
+#define Amp1394_VERSION_PATCH ${Amp1394_VERSION_PATCH}
+#define Amp1394_VERSION ${Amp1394_VERSION}
+
+#endif // _AmpIORevision_h

lib/code/AmpIO.cpp

@@ -4,7 +4,7 @@
 /*
   Author(s):  Zihan Chen, Peter Kazanzides
 
-  (C) Copyright 2011-2014 Johns Hopkins University (JHU), All Rights Reserved.
+  (C) Copyright 2011-2015 Johns Hopkins University (JHU), All Rights Reserved.
 
 --- begin cisst license - do not edit ---
 
@@ -29,6 +29,7 @@ const AmpIO_UInt32 MIDRANGE_VEL     = 0x00008000;  /*!< Midrange value of encode
 const AmpIO_UInt32 MIDRANGE_FRQ     = 0x00008000;  /*!< Midrange value of encoder frequency */
 const AmpIO_UInt32 MIDRANGE_ACC     = 0x00008000;  /*!< Midrange value of encoder acc */
 const AmpIO_UInt32 ENC_PRELOAD      = 0x007fffff;  /*!< Encoder preload value */
+const AmpIO_Int32  ENC_MIDRANGE     = 0x00800000;
 
 const AmpIO_UInt32 PWR_ENABLE       = 0x000c0000;  /*!< Turn pwr_en on             */
 const AmpIO_UInt32 PWR_DISABLE      = 0x00080000;  /*!< Turn pwr_en off            */
@@ -39,7 +40,8 @@ const AmpIO_UInt32 MOTOR_CURR_MASK  = 0x0000ffff;  /*!< Mask for motor current a
 const AmpIO_UInt32 ANALOG_POS_MASK  = 0xffff0000;  /*!< Mask for analog pot ADC bits */
 const AmpIO_UInt32 ADC_MASK         = 0x0000ffff;  /*!< Mask for right aligned ADC bits */
 const AmpIO_UInt32 DAC_MASK         = 0x0000ffff;  /*!< Mask for 16-bit DAC values */
-const AmpIO_UInt32 ENC_POS_MASK     = 0x01ffffff;  /*!< Mask for quad encoder bits */
+const AmpIO_UInt32 ENC_POS_MASK     = 0x00ffffff;  /*!< Encoder position mask */
+const AmpIO_UInt32 ENC_OVER_MASK    = 0x01000000;  /*!< Encoder bit overflow mask */
 const AmpIO_UInt32 ENC_VEL_MASK     = 0x0000ffff;  /*!< Mask for encoder velocity bits */
 const AmpIO_UInt32 ENC_FRQ_MASK     = 0x0000ffff;  /*!< Mask for encoder frequency bits */
 
@@ -158,11 +160,28 @@ AmpIO_UInt8 AmpIO::GetEncoderChannelB(void) const
     return (this->GetDigitalInput()&0x00f00000)>>20;
 }
 
+bool AmpIO::GetEncoderChannelB(unsigned int index) const
+{
+    const AmpIO_UInt8 mask = (0x0001 << index);
+    return GetEncoderChannelB()&mask;
+}
+
 AmpIO_UInt8 AmpIO::GetEncoderIndex(void) const
 {
     return (this->GetDigitalInput()&0x000f0000)>>16;
 }
 
+bool AmpIO::GetEncoderOverflow(unsigned int index) const
+{
+    if (index < NUM_CHANNELS) {
+        return bswap_32(read_buffer[index+ENC_POS_OFFSET]) & ENC_OVER_MASK;
+    }
+    else {
+        std::cerr << "Warning: GetEncoderOverflow, index out of range " << index << std::endl;
+    }
+    return true; // send error "code"
+}
+
 AmpIO_UInt8 AmpIO::GetAmpTemperature(unsigned int index) const
 {
     AmpIO_UInt8 temp = 0;
@@ -198,12 +217,12 @@ AmpIO_UInt32 AmpIO::GetAnalogInput(unsigned int index) const
     return static_cast<AmpIO_UInt32>(buff) & ADC_MASK;
 }
 
-AmpIO_UInt32 AmpIO::GetEncoderPosition(unsigned int index) const
+AmpIO_Int32 AmpIO::GetEncoderPosition(unsigned int index) const
 {
-    if (index < NUM_CHANNELS)
-        return bswap_32(read_buffer[index+ENC_POS_OFFSET]);
-    else
-        return 0;
+    if (index < NUM_CHANNELS) {
+        return static_cast<AmpIO_Int32>(bswap_32(read_buffer[index + ENC_POS_OFFSET]) & ENC_POS_MASK) - ENC_MIDRANGE;
+    }
+    return 0;
 }
 
 // temp current the enc period velocity is unsigned 16 bits
@@ -231,6 +250,10 @@ AmpIO_UInt32 AmpIO::GetEncoderVelocity(unsigned int index, const bool islatch) c
     else return cnter;
 }
 
+AmpIO_Int32 AmpIO::GetEncoderMidRange(void) const
+{
+    return ENC_MIDRANGE;
+}
 
 bool AmpIO::GetPowerStatus(void) const
 {
@@ -379,14 +402,20 @@ bool AmpIO::WriteSafetyRelay(bool state)
     return (port ? port->WriteQuadlet(BoardId, 0, bswap_32(write_data)) : false);
 }
 
-bool AmpIO::WriteEncoderPreload(unsigned int index, AmpIO_UInt32 sdata)
+bool AmpIO::WriteEncoderPreload(unsigned int index, AmpIO_Int32 sdata)
 {
     unsigned int channel = (index+1) << 4;
 
-    if (port && (index < NUM_CHANNELS))
-        return port->WriteQuadlet(BoardId, channel | ENC_LOAD_OFFSET, bswap_32(sdata));
-    else
+    if ((sdata >= ENC_MIDRANGE)
+            || (sdata < -ENC_MIDRANGE)) {
+        std::cerr << "Error: WriteEncoderPreload, preload out of range" << std::endl;
         return false;
+    }
+    if (port && (index < NUM_CHANNELS)) {
+        return port->WriteQuadlet(BoardId, channel | ENC_LOAD_OFFSET, bswap_32(static_cast<AmpIO_UInt32>(sdata + ENC_MIDRANGE)));
+    } else {
+        return false;
+    }
 }
 
 bool AmpIO::WriteDigitalOutput(AmpIO_UInt8 mask, AmpIO_UInt8 bits)