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mrk committed for dalesio

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This commit is contained in:
Marty Kraimer
1995-08-17 14:51:53 +00:00
parent 59a2f10867
commit e6bec6af38
2 changed files with 44 additions and 276 deletions
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160
src/drv/old/drvCompuSm.c
View File

@@ -308,6 +308,10 @@ int smRespId; /* task id */
/* interrupt buffers */
unsigned char sm_responses[MAX_COMPU_MOTORS][RESPBUF_SZ];
unsigned short counts[MAX_COMPU_MOTORS];
/* counts for debugging */
long dbicounts; /* counts number of times through interrupt routine */
long dbrcounts; /* counts number of times through response routine */
long dbscounts; /* counts number of times through send routine */
/* VME memory Short Address Space is set up in gta_init */
static int *compu_addr;
@@ -392,6 +396,7 @@ compu_resp_task()
FOREVER {
/* wait for somebody to wake us up */
semTake (smRespSem, WAIT_FOREVER);
(dbrcounts < 0xFFFF ? dbrcounts++: 0);
/* the response buffer contains: */
/* 0 - motor number */
/* 1 - the command which solicited this response */
@@ -522,7 +527,12 @@ register int mdnum;
/* pointer to the compumotor card interface */
pmtr = pcompu_motors[mdnum];
if (pmtr == 0)
{
intUnlock(key);
return(0);
};
(dbicounts < 0xFFFF ? dbicounts++: 0);
/* place the response byte into the appropriate response buffer */
sm_responses[mdnum][counts[mdnum]] = pmtr->cm_idb;
counts[mdnum]++;
@@ -545,6 +555,7 @@ register int mdnum;
}
intUnlock(key);
return(0);
}
/*
@@ -621,17 +632,18 @@ short trigger = 0;
*
* driver interface to the database library layer
*/
compu_driver(card,value_flag,arg1,arg2)
compu_driver(card, channel, value_flag,arg1,arg2)
register short card;
short channel;
short value_flag;
register int arg1;
register int arg2;
{
register int *pint;
register short *pshort;
short j,i;
short i;
char compu_msg[20];
i = 0;
/* verify the stepper motor driver card is present */
if ((card < 0) || (card > sm_num_cards[CM57_83E]) || (!pcompu_motors[card]))
return (-1);
@@ -661,144 +673,16 @@ register int arg2;
case (SM_MOVE):
if (compu_motor_array[card].mode == VELOCITY_MODE)
return(0);
i = 0;
switch (trigger){
case (0):
/* move the motor */
compu_msg[i++] = SM_MOV_REL_POS;
pint = (int *)&compu_msg[i];
*pint = arg1;
i += 4;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
break;
case (1): /* test sequnce buffer */
compu_msg[i++] = 0xda; /* delete sequence buffer */
compu_msg[i++] = 01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xd9; /* fill sequence buffer */
compu_msg[i++] = 01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = SM_MOV_REL_POS;
pint = (int *)&compu_msg[i];
*pint = arg1;
i += 4;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xd8; /* end sequence buffer */
compu_msg[i++] = 0x41; /* perform sequence buffer */
compu_msg[i++] = 0x01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
break;
case (2): /* test move buffer */
compu_msg[i++] = 0xc8;
compu_msg[i++] = 0x12;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x04;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x04;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
pint = (int *)&compu_msg[i];
*pint = arg1;
i += 4;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0x40;
compu_msg[i++] = 0x12;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
break;
case (3): /* test sequence buffer with move buffer */
compu_msg[i++] = 0xc8;
compu_msg[i++] = 0x12;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x04;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x04;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
pint = (int *)&compu_msg[i];
*pint = arg1;
i += 4;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xda; /* delete sequence buffer */
compu_msg[i++] = 01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xd9; /* fill sequence buffer */
compu_msg[i++] = 01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0x40;
compu_msg[i++] = 0x12;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xd8; /* end sequence buffer */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0x41; /* perform sequence buffer */
compu_msg[i++] = 0x01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
break;
case (4): /* test sequence buffer with move buffer and trigger */
compu_msg[i++] = 0xc8;
compu_msg[i++] = 0x12;
compu_msg[i++] = 0x00;
/* move the motor */
i = 0;
compu_msg[i++] = SM_MOV_REL_POS;
pint = (int *)&compu_msg[i];
*pint = compu_motor_data_array[card].velocity;
i += 4;
pint++;
*pint = compu_motor_data_array[card].accel;
i += 4;
pint++;
*pint = arg1;
i += 4;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xda; /* delete sequence buffer */
compu_msg[i++] = 01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xd9; /* fill sequence buffer */
compu_msg[i++] = 01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0x2c; /* wait for trigger */
compu_msg[i++] = 1; /*trigger 1 */
compu_msg[i++] = 1; /* don't care about state */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0x40;
compu_msg[i++] = 0x12;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xd8; /* end sequence buffer */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0x41; /* perform sequence buffer */
compu_msg[i++] = 0x01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
break;
}
for (j = 0; j < i; j++){
printf("%x ",compu_msg[j]);
}
/* compu_send_msg(pcompu_motors[card],compu_msg,i);
*/
/* set the motor to active */
compu_motor_array[card].active = TRUE;
@@ -884,6 +768,7 @@ register struct compumotor *pmotor;
register char *pmsg;
register short count;
{
(dbscounts < 0xFFFF ? dbscounts++: 0);
/* write out this command one byte at a time */
while (count){
@@ -969,4 +854,3 @@ VOID compu_sm_reset()
}
}
}

160
src/vxWorks/drv/old/drvCompuSm.c
View File

@@ -308,6 +308,10 @@ int smRespId; /* task id */
/* interrupt buffers */
unsigned char sm_responses[MAX_COMPU_MOTORS][RESPBUF_SZ];
unsigned short counts[MAX_COMPU_MOTORS];
/* counts for debugging */
long dbicounts; /* counts number of times through interrupt routine */
long dbrcounts; /* counts number of times through response routine */
long dbscounts; /* counts number of times through send routine */
/* VME memory Short Address Space is set up in gta_init */
static int *compu_addr;
@@ -392,6 +396,7 @@ compu_resp_task()
FOREVER {
/* wait for somebody to wake us up */
semTake (smRespSem, WAIT_FOREVER);
(dbrcounts < 0xFFFF ? dbrcounts++: 0);
/* the response buffer contains: */
/* 0 - motor number */
/* 1 - the command which solicited this response */
@@ -522,7 +527,12 @@ register int mdnum;
/* pointer to the compumotor card interface */
pmtr = pcompu_motors[mdnum];
if (pmtr == 0)
{
intUnlock(key);
return(0);
};
(dbicounts < 0xFFFF ? dbicounts++: 0);
/* place the response byte into the appropriate response buffer */
sm_responses[mdnum][counts[mdnum]] = pmtr->cm_idb;
counts[mdnum]++;
@@ -545,6 +555,7 @@ register int mdnum;
}
intUnlock(key);
return(0);
}
/*
@@ -621,17 +632,18 @@ short trigger = 0;
*
* driver interface to the database library layer
*/
compu_driver(card,value_flag,arg1,arg2)
compu_driver(card, channel, value_flag,arg1,arg2)
register short card;
short channel;
short value_flag;
register int arg1;
register int arg2;
{
register int *pint;
register short *pshort;
short j,i;
short i;
char compu_msg[20];
i = 0;
/* verify the stepper motor driver card is present */
if ((card < 0) || (card > sm_num_cards[CM57_83E]) || (!pcompu_motors[card]))
return (-1);
@@ -661,144 +673,16 @@ register int arg2;
case (SM_MOVE):
if (compu_motor_array[card].mode == VELOCITY_MODE)
return(0);
i = 0;
switch (trigger){
case (0):
/* move the motor */
compu_msg[i++] = SM_MOV_REL_POS;
pint = (int *)&compu_msg[i];
*pint = arg1;
i += 4;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
break;
case (1): /* test sequnce buffer */
compu_msg[i++] = 0xda; /* delete sequence buffer */
compu_msg[i++] = 01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xd9; /* fill sequence buffer */
compu_msg[i++] = 01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = SM_MOV_REL_POS;
pint = (int *)&compu_msg[i];
*pint = arg1;
i += 4;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xd8; /* end sequence buffer */
compu_msg[i++] = 0x41; /* perform sequence buffer */
compu_msg[i++] = 0x01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
break;
case (2): /* test move buffer */
compu_msg[i++] = 0xc8;
compu_msg[i++] = 0x12;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x04;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x04;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
pint = (int *)&compu_msg[i];
*pint = arg1;
i += 4;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0x40;
compu_msg[i++] = 0x12;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
break;
case (3): /* test sequence buffer with move buffer */
compu_msg[i++] = 0xc8;
compu_msg[i++] = 0x12;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x04;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x04;
compu_msg[i++] = 0x00;
compu_msg[i++] = 0x00;
pint = (int *)&compu_msg[i];
*pint = arg1;
i += 4;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xda; /* delete sequence buffer */
compu_msg[i++] = 01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xd9; /* fill sequence buffer */
compu_msg[i++] = 01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0x40;
compu_msg[i++] = 0x12;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xd8; /* end sequence buffer */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0x41; /* perform sequence buffer */
compu_msg[i++] = 0x01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
break;
case (4): /* test sequence buffer with move buffer and trigger */
compu_msg[i++] = 0xc8;
compu_msg[i++] = 0x12;
compu_msg[i++] = 0x00;
/* move the motor */
i = 0;
compu_msg[i++] = SM_MOV_REL_POS;
pint = (int *)&compu_msg[i];
*pint = compu_motor_data_array[card].velocity;
i += 4;
pint++;
*pint = compu_motor_data_array[card].accel;
i += 4;
pint++;
*pint = arg1;
i += 4;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xda; /* delete sequence buffer */
compu_msg[i++] = 01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xd9; /* fill sequence buffer */
compu_msg[i++] = 01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0x2c; /* wait for trigger */
compu_msg[i++] = 1; /*trigger 1 */
compu_msg[i++] = 1; /* don't care about state */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0x40;
compu_msg[i++] = 0x12;
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0xd8; /* end sequence buffer */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
compu_msg[i++] = 0x41; /* perform sequence buffer */
compu_msg[i++] = 0x01; /* buffer 1 */
compu_send_msg(pcompu_motors[card],compu_msg,i);
i = 0;
break;
}
for (j = 0; j < i; j++){
printf("%x ",compu_msg[j]);
}
/* compu_send_msg(pcompu_motors[card],compu_msg,i);
*/
/* set the motor to active */
compu_motor_array[card].active = TRUE;
@@ -884,6 +768,7 @@ register struct compumotor *pmotor;
register char *pmsg;
register short count;
{
(dbscounts < 0xFFFF ? dbscounts++: 0);
/* write out this command one byte at a time */
while (count){
@@ -969,4 +854,3 @@ VOID compu_sm_reset()
}
}
}