[Emc-commit] emc2/src/emc/task taskintf.cc, 1.46, 1.47 emctaskmain.cc, 1.68, 1.69

[EMC C. s. <cv...@cv...>]

Modified file emc2/src/emc/task/taskintf.cc

Full file:
<http://cvs.linuxcnc.org/cvs/emc2/src/emc/task/taskintf.cc?rev=1.47>

Difference:
<http://cvs.linuxcnc.org/cvs/emc2/src/emc/task/taskintf.cc.diff?r1=1.46;r2=1.47>

Branch: HEAD

Log:
revision 1.47
date: 2006/09/14 20:47:38;  author: jepler;  state: Exp;  lines: +7 -2
Add sequential homing of multiple axes using [AXIS_*]HOME_SEQUENCE to specify the sequence.

Add shared limit switches, which prevents homing on an axis when the switch
begins closed, using [AXIS_*]HOME_IS_SHARED.

--- taskintf.cc	2006/09/11 19:00:49	1.46
+++ taskintf.cc	2006/09/14 20:47:38	1.47
@@ -367,7 +367,8 @@
 
 int emcAxisSetHomingParams(int axis, double home, double offset,
 			   double search_vel, double latch_vel,
-			   int use_index, int ignore_limits)
+			   int use_index, int ignore_limits, int is_shared,
+			   int sequence)
 {
     if (axis < 0 || axis >= EMCMOT_MAX_AXIS) {
 	return 0;
@@ -380,12 +381,16 @@
     emcmotCommand.search_vel = search_vel;
     emcmotCommand.latch_vel = latch_vel;
     emcmotCommand.flags = 0;
+    emcmotCommand.home_sequence = sequence;
     if (use_index) {
 	emcmotCommand.flags |= HOME_USE_INDEX;
     }
     if (ignore_limits) {
 	emcmotCommand.flags |= HOME_IGNORE_LIMITS;
     }
+    if (is_shared) {
+	emcmotCommand.flags |= HOME_IS_SHARED;
+    }
 #ifdef ISNAN_TRAP
     if (isnan(emcmotCommand.home) ||
 	isnan(emcmotCommand.offset) ||
@@ -585,7 +590,7 @@
 
 int emcAxisHome(int axis)
 {
-    if (axis < 0 || axis >= EMCMOT_MAX_AXIS) {
+    if (axis < -1 || axis >= EMCMOT_MAX_AXIS) {
 	return 0;
     }
 

Modified file emc2/src/emc/task/emctaskmain.cc

Full file:
<http://cvs.linuxcnc.org/cvs/emc2/src/emc/task/emctaskmain.cc?rev=1.69>

Difference:
<http://cvs.linuxcnc.org/cvs/emc2/src/emc/task/emctaskmain.cc.diff?r1=1.68;r2=1.69>

Branch: HEAD

Log:
revision 1.69
date: 2006/09/14 20:47:38;  author: jepler;  state: Exp;  lines: +3 -2
Add sequential homing of multiple axes using [AXIS_*]HOME_SEQUENCE to specify the sequence.

Add shared limit switches, which prevents homing on an axis when the switch
begins closed, using [AXIS_*]HOME_IS_SHARED.

--- emctaskmain.cc	2006/09/11 18:57:43	1.68
+++ emctaskmain.cc	2006/09/14 20:47:38	1.69
@@ -1511,8 +1511,9 @@
 					set_homing_params_msg->search_vel,
 					set_homing_params_msg->latch_vel,
 					set_homing_params_msg->use_index,
-					set_homing_params_msg->
-					ignore_limits);
+					set_homing_params_msg->ignore_limits,
+					set_homing_params_msg->is_shared,
+					set_homing_params_msg->home_sequence);
 	break;
 
 /*! \todo Another #if 0 */