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Do communication test on "AXIS:STAT?".

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This commit is contained in:
Ron Sluiter
2004-01-13 21:01:38 +00:00
parent c638a77244
commit 084216006e
1 changed files with 17 additions and 27 deletions
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motorApp/PiSrc/drvPIC844.cc
+17 -27
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@@ -3,9 +3,9 @@ FILENAME... drvPIC844.cc
USAGE... Motor record driver level support for Physik Instrumente (PI)
GmbH & Co. C-844 motor controller.
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-01-07 15:00:07 $
Last Modified: $Date: 2004-01-13 21:01:38 $
*/
/*
@@ -227,7 +227,7 @@ static int set_status(int card, int signal)
/* Message parsing variables */
char buff[BUFF_SIZE];
C844_Cond_Reg mstat;
int rtn_state, charcnt;
int rtn_state;
double motorData;
bool plusdir, ls_active = false, inmotion, plusLS, minusLS;
msta_field status;
@@ -237,27 +237,19 @@ static int set_status(int card, int signal)
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
/* With out this delay, the following transaction results in a timeout,
* followed by communication out of synch. This could be due to jumpering
* out RS-232 hardware handshaking.
*/
send_mess(card, "AXIS:STAT?", PIC844_axis[signal]);
recv_mess(card, buff, 1);
epicsThreadSleep(epicsThreadSleepQuantum() * 2.0);
send_mess(card, "MOT:COND?", (char) NULL);
charcnt = recv_mess(card, buff, 1);
if (charcnt == 1)
{
cntrl->status = NORMAL;
status.Bits.CNTRL_COMM_ERR = 0;
}
if (strcmp(buff, "ON") == 0)
status.Bits.EA_POSITION = 1;
else if (strcmp(buff, "OFF") == 0)
status.Bits.EA_POSITION = 0;
else
{
if (cntrl->status == NORMAL)
{
cntrl->status = RETRY;
rtn_state = 0;
goto exit;
}
else
{
@@ -265,9 +257,15 @@ static int set_status(int card, int signal)
status.Bits.CNTRL_COMM_ERR = 1;
status.Bits.RA_PROBLEM = 1;
rtn_state = 1;
goto exit;
}
goto exit;
}
cntrl->status = NORMAL;
status.Bits.CNTRL_COMM_ERR = 0;
send_mess(card, "MOT:COND?", (char) NULL);
recv_mess(card, buff, 1);
mstat.All = atoi(&buff[0]);
switch(signal)
@@ -293,7 +291,7 @@ static int set_status(int card, int signal)
* Skip to substring for this motor, convert to double
*/
send_mess(card, "CURR:TPOS?", PIC844_axis[signal]);
send_mess(card, "CURR:TPOS?", (char) NULL);
recv_mess(card, buff, 1);
motorData = atof(buff);
@@ -350,14 +348,6 @@ static int set_status(int card, int signal)
else
status.Bits.RA_MINUS_LS = 0;
send_mess(card, "AXIS:STAT?", (char) NULL);
recv_mess(card, buff, 1);
if (strcmp(buff, "ON") == 0)
status.Bits.EA_POSITION = 1;
else
status.Bits.EA_POSITION = 0;
/* encoder status */
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;