RoCoN: Extend number of the supported axes to 4.

Signed-off-by: Pavel Pisa <ppisa@pikron.com>

diff --git a/sw/app/rocon/appl_pxmc.c b/sw/app/rocon/appl_pxmc.c
index 099d8b8820a6cc0e09a500614d0329f80fee7695..aa3630008ec0796386ff19270b308642e67c65db 100644 (file)
--- a/sw/app/rocon/appl_pxmc.c
+++ b/sw/app/rocon/appl_pxmc.c
@@ -28,7 +28,7 @@
 
 #include "appl_defs.h"
 
-#define PXML_MAIN_CNT 1
+#define PXML_MAIN_CNT 4
 
 #define PXMC_WITH_PT_ZIC 1
 #define PXMC_PT_ZIC_MASK 0x8000
@@ -301,8 +301,86 @@ pxmc_state_t mcs0={
   pxms_ap:0, pxms_as:0,
   pxms_rp: 55*256, pxms_rs:0, pxms_subdiv:8,
   pxms_md:800<<8, pxms_ms:1000, pxms_ma:10,
-  pxms_inp_info:8,
-  pxms_out_info:0x00000201,
+  pxms_inp_info:0,
+  pxms_out_info:0,
+  pxms_ene:0, pxms_erc:0,
+  pxms_p:80, pxms_i:30, pxms_d:200, pxms_s1:200, pxms_s2:0,
+  pxms_me:0x7e00/*0x7fff*/,
+  pxms_cfg:PXMS_CFG_SMTH_m|PXMS_CFG_MD2E_m|PXMS_CFG_HLS_m|PXMS_CFG_I2PT_m*0|
+         0x1,
+
+  pxms_ptper:1,
+  pxms_ptirc:1000,
+  /*pxms_ptamp: 0x7fff,*/
+
+  pxms_hal: 0x40,
+};
+
+pxmc_state_t mcs1={
+  pxms_flg:PXMS_ENI_m,
+  pxms_do_inp:pxmc_inp_rocon_inp,
+  pxms_do_con:pxmc_pid_con,
+  pxms_do_out:pxmc_rocon_pwm_out,
+  pxms_do_deb:0,
+  pxms_do_gen:0,
+  pxms_do_ap2hw:pxmc_inp_rocon_ap2hw,
+  pxms_ap:0, pxms_as:0,
+  pxms_rp: 55*256, pxms_rs:0, pxms_subdiv:8,
+  pxms_md:800<<8, pxms_ms:1000, pxms_ma:10,
+  pxms_inp_info:1,
+  pxms_out_info:1,
+  pxms_ene:0, pxms_erc:0,
+  pxms_p:80, pxms_i:30, pxms_d:200, pxms_s1:200, pxms_s2:0,
+  pxms_me:0x7e00/*0x7fff*/,
+  pxms_cfg:PXMS_CFG_SMTH_m|PXMS_CFG_MD2E_m|PXMS_CFG_HLS_m|PXMS_CFG_I2PT_m*0|
+         0x1,
+
+  pxms_ptper:1,
+  pxms_ptirc:1000,
+  /*pxms_ptamp: 0x7fff,*/
+
+  pxms_hal: 0x40,
+};
+
+pxmc_state_t mcs2={
+  pxms_flg:PXMS_ENI_m,
+  pxms_do_inp:pxmc_inp_rocon_inp,
+  pxms_do_con:pxmc_pid_con,
+  pxms_do_out:pxmc_rocon_pwm_out,
+  pxms_do_deb:0,
+  pxms_do_gen:0,
+  pxms_do_ap2hw:pxmc_inp_rocon_ap2hw,
+  pxms_ap:0, pxms_as:0,
+  pxms_rp: 55*256, pxms_rs:0, pxms_subdiv:8,
+  pxms_md:800<<8, pxms_ms:1000, pxms_ma:10,
+  pxms_inp_info:2,
+  pxms_out_info:2,
+  pxms_ene:0, pxms_erc:0,
+  pxms_p:80, pxms_i:30, pxms_d:200, pxms_s1:200, pxms_s2:0,
+  pxms_me:0x7e00/*0x7fff*/,
+  pxms_cfg:PXMS_CFG_SMTH_m|PXMS_CFG_MD2E_m|PXMS_CFG_HLS_m|PXMS_CFG_I2PT_m*0|
+         0x1,
+
+  pxms_ptper:1,
+  pxms_ptirc:1000,
+  /*pxms_ptamp: 0x7fff,*/
+
+  pxms_hal: 0x40,
+};
+
+pxmc_state_t mcs3={
+  pxms_flg:PXMS_ENI_m,
+  pxms_do_inp:pxmc_inp_rocon_inp,
+  pxms_do_con:pxmc_pid_con,
+  pxms_do_out:pxmc_rocon_pwm_out,
+  pxms_do_deb:0,
+  pxms_do_gen:0,
+  pxms_do_ap2hw:pxmc_inp_rocon_ap2hw,
+  pxms_ap:0, pxms_as:0,
+  pxms_rp: 55*256, pxms_rs:0, pxms_subdiv:8,
+  pxms_md:800<<8, pxms_ms:1000, pxms_ma:10,
+  pxms_inp_info:3,
+  pxms_out_info:3,
   pxms_ene:0, pxms_erc:0,
   pxms_p:80, pxms_i:30, pxms_d:200, pxms_s1:200, pxms_s2:0,
   pxms_me:0x7e00/*0x7fff*/,
@@ -318,7 +396,7 @@ pxmc_state_t mcs0={
 
 
 pxmc_state_t *pxmc_main_arr[PXML_MAIN_CNT]=
-                       {&mcs0};
+                       {&mcs0,&mcs1,&mcs2,&mcs3};
 
 
 pxmc_state_list_t  pxmc_main_list={