lin-epics-modules/motorBase
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32 axes/board support.

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This commit is contained in:
Ron Sluiter
2004-09-21 15:24:37 +00:00
parent 6e161e48da
commit 0692392485
1 changed files with 23 additions and 17 deletions
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motorApp/DeltaTauSrc/drvPmac.cc
+23 -17
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@@ -2,9 +2,9 @@
FILENAME... drvPmac.cc
USAGE... Driver level support for Delta Tau PMAC model.
Version: $Revision: 1.2 $
Version: $Revision: 1.3 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-09-15 18:47:31 $
Last Modified: $Date: 2004-09-21 15:24:37 $
*/
/*
@@ -37,6 +37,7 @@ Last Modified: $Date: 2004-09-15 18:47:31 $
* Modification Log:
* -----------------
* .00 04/17/04 rls - Copied from drvOms.cc
* .01 09/21/04 rls - support for 32axes/controller.
*/
#include <vxLib.h>
@@ -94,25 +95,30 @@ static char *Mbox_addrs = 0x0; /* Base address of Mailbox. */
static epicsAddressType Pmac_ADDRS_TYPE;
static volatile unsigned PmacInterruptVector = 0;
static volatile epicsUInt8 PmacInterruptLevel = Pmac_INT_LEVEL;
static char Pmac_axis[] = {'1', '2', '3', '4', '5', '6', '7', '8', '9'};
static char *Pmac_axis[] =
{"1", "2", "3", "4", "5", "6", "7", "8", "9", "10",
"11", "12", "13", "14", "15", "16", "17", "18", "19", "20",
"21", "22", "23", "24", "25", "26", "27", "28", "29", "30",
"31", "32"};
static double quantum;
/*----------------functions-----------------*/
/* Common local function declarations. */
static long report(int level);
static long report(int);
static long init();
static void query_done(int, int, struct mess_node *);
static int set_status(int card, int signal);
RTN_STATUS send_mess(int card, char const *com, char c);
int recv_mess(int, char *, int);
static void motorIsr(int card);
static int set_status(int, int);
static RTN_STATUS send_mess(int, char const *, char *);
static int recv_mess(int, char *, int);
static void motorIsr(int);
static int motor_init();
static void Pmac_reset();
static RTN_STATUS PmacPut(int card, char *pcom);
static int motorIsrEnable(int card);
static void motorIsrDisable(int card);
static RTN_STATUS PmacPut(int, char *);
static int motorIsrEnable(int);
static void motorIsrDisable(int);
struct driver_table Pmac_access =
{
@@ -294,7 +300,7 @@ static int set_status(int card, int signal)
/* send a message to the Pmac board */
/* send_mess() */
/*****************************************************/
RTN_STATUS send_mess(int card, char const *com, char inchar)
static RTN_STATUS send_mess(int card, char const *com, char *name)
{
char outbuf[MAX_MSG_SIZE];
RTN_STATUS return_code;
@@ -317,12 +323,12 @@ RTN_STATUS send_mess(int card, char const *com, char inchar)
/* Flush receive buffer */
recv_mess(card, (char *) NULL, -1);
if (inchar == NULL)
if (name == NULL)
strcpy(outbuf, com);
else
{
strcpy(outbuf, "#?");
outbuf[1] = inchar;
strcpy(outbuf, "#");
strcat(outbuf, name);
strcat(outbuf, com);
}
@@ -389,7 +395,7 @@ RTN_STATUS send_mess(int card, char const *com, char inchar)
* NORMAL RETURN.
*/
int recv_mess(int card, char *com, int amount)
static int recv_mess(int card, char *com, int amount)
{
volatile struct controller *pmotorState;
volatile struct pmac_dpram *pmotor;
@@ -695,7 +701,7 @@ static int motor_init()
struct PMACcontroller *cntrl;
long status;
int card_index, motor_index;
char axis_pos[50], encoder_pos[50];
char axis_pos[50];
char *tok_save;
int total_encoders = 0, total_axis = 0;
volatile void *localaddr;