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Mods contributed by Ric Claus (SLAC)

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Marty Kraimer
1996-05-03 14:14:22 +00:00
parent 427ea50c50
commit 92b1b34e02
4 changed files with 26 additions and 0 deletions
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8
src/drv/old/drvCompuSm.c
View File

@@ -53,6 +53,7 @@
* .15 08-02-93 mrk Added call to taskwdInsert
* .16 10-29-93 jba Fixed max number of cards to use module_types.c
* Fixed error in calculating card addresses
* .17 04-09-96 ric Added SM_FIND_LIMIT, SM_FIND_HOME
*/
#include <vxWorks.h>
#include <vme.h>
@@ -670,6 +671,13 @@ register int arg2;
break;
case (SM_FIND_HOME): /* Move to a home switch */
break; /* Not supported by this device */
case (SM_FIND_LIMIT): /* Move to a limit switch */
arg1 = arg1 >= 0 ? 0x000fffff : -0x000fffff;
/* break purposely left out to continue with SM_MOVE */
case (SM_MOVE):
if (compu_motor_array[card].mode == VELOCITY_MODE)
return(0);

8
src/drv/old/drvOms.c
View File

@@ -62,6 +62,7 @@
* .21 02-28-94 mrk Replaced itob by cvtLongToString
* .22 05-05-94 kornke Now supports VMEX-8 and VMEX-44E
* (8 axis s'motors and 4 encoded s'motors)
* .23 04-09-96 ric Added SM_FIND_LIMIT, SM_FIND_HOME
*/
/* data requests are made from the oms_task at
@@ -510,6 +511,13 @@ int arg2;
break;
case (SM_FIND_HOME): /* Move to a home switch */
break; /* Not supported by this device */
case (SM_FIND_LIMIT): /* Move to a limit switch */
arg1 = arg1 >= 0 ? 0x000fffff : -0x000fffff;
/* break purposely left out to continue with SM_MOVE */
case (SM_MOVE):
/* move the motor */
strcpy(oms_move_msg,"A?\nAF\nMR");

2
src/drv/old/steppermotor.h
View File

@@ -62,3 +62,5 @@ long accel;
#define SM_ENCODER_RATIO 6
#define SM_MOTOR_RESOLUTION 7
#define SM_READ 8
#define SM_FIND_LIMIT 9
#define SM_FIND_HOME 10

8
src/vxWorks/drv/old/drvCompuSm.c
View File

@@ -53,6 +53,7 @@
* .15 08-02-93 mrk Added call to taskwdInsert
* .16 10-29-93 jba Fixed max number of cards to use module_types.c
* Fixed error in calculating card addresses
* .17 04-09-96 ric Added SM_FIND_LIMIT, SM_FIND_HOME
*/
#include <vxWorks.h>
#include <vme.h>
@@ -670,6 +671,13 @@ register int arg2;
break;
case (SM_FIND_HOME): /* Move to a home switch */
break; /* Not supported by this device */
case (SM_FIND_LIMIT): /* Move to a limit switch */
arg1 = arg1 >= 0 ? 0x000fffff : -0x000fffff;
/* break purposely left out to continue with SM_MOVE */
case (SM_MOVE):
if (compu_motor_array[card].mode == VELOCITY_MODE)
return(0);