mpiMotorIoGet --Deprecated--

mpiMotorIoGet (Deprecated)

NOTE:
mpiMotorIoGet was moved to meiDeprecated.h in the 03.02.00 MPI software release.

Declaration

	long mpiMotorIoGet(MPIMotor motor, MPIMotorIo *io);
	Required Header: stdmei.h

Description

mpiMotorIoGet gets a Motor’s (motor) dedicated I/O bits and writes them into the structure pointed to by io.

NOTE: When using I/O on SynqNet nodes, use the motor I/O masks in the drive's header file for cleaner code. Most SynqNet nodes have a header file that defines things that are specific to that drive. The header files are found in C:\mei\XMP\sqNodeLib\include. An example is shown below that reads the hall sensors from the Trust TA802.

/*
	Shows the hall sensors.
	Make sure you include trust_ta800.h. Ex:
	#include "C:\mei\XMP\sqNodeLib\include\trust_ta800.h"

	The hall sensor masks are found in the enum TA800MotorIoMask.
*/

void showHalls(MPIMotor motor)
{
    MPIMotorIo io;
      long returnValue;
      long a, b, c;
	
      while (meiPlatformKey(MPIWaitPOLL) <= 0)
      {
         returnValue = mpiMotorIoGet(motor, &io);
         msgCHECK(returnValue);
		
         a = ((io.input & TA800MotorIoMaskHALL_A) == TA800MotorIoMaskHALL_A);
         b = ((io.input & TA800MotorIoMaskHALL_B) == TA800MotorIoMaskHALL_B);
         c = ((io.input & TA800MotorIoMaskHALL_C) == TA800MotorIoMaskHALL_C);

         /* Prints a 1 or 0 indicating the hall state */
         printf("Hall A %d B %d C %d\t\t\r", a, b, c);

         meiPlatformSleep(100);
      }
}

Sample Code

/* Poll io inputs for a motor and print to the screen */
void readIo(MPIMotor motor)
{
    MPIMotorIo io;
    long returnValue;

    while (meiPlatformKey(MPIWaitPOLL) <= 0)
    {
        returnValue = mpiMotorIoGet(motor, &io);
        msgCHECK(returnValue);

        printf("\rIO %x", io.input);

        meiPlatformSleep(100); /* Wait 100 mSec */
    }
}

Return Values
MPIMessageOK