forked from epics_driver_modules/motorBase
- asyn R4.1 support.
- make debug variables always available. - MS Visual C compatibility; make all epicsExportAddress extern "C" linkage.
This commit is contained in:
Ron Sluiter
@@ -3,9 +3,9 @@ FILENAME... drvMDrive.cc
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USAGE... Motor record driver level support for Intelligent Motion
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Systems, Inc. MDrive series; M17, M23, M34.
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Version: $Revision: 1.13 $
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Version: $Revision: 1.14 $
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Modified By: $Author: sluiter $
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Last Modified: $Date: 2004-09-20 21:10:34 $
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Last Modified: $Date: 2004-12-21 17:19:34 $
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*/
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/*
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@@ -43,6 +43,10 @@ Last Modified: $Date: 2004-09-20 21:10:34 $
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* .04 07/01/04 rls Converted from MPF to asyn.
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* .05 09/20/04 rls - support for 32axes/controller.
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* - remove '?' command string padding.
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* .06 12/16/04 rls - asyn R4.0 support.
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* - make debug variables always available.
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* - MS Visual C compatibility; make all epicsExportAddress
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* extern "C" linkage.
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*/
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/*
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@@ -69,15 +73,15 @@ DESIGN LIMITATIONS...
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/*----------------debugging-----------------*/
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#ifdef __GNUG__
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#ifdef DEBUG
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volatile int drvMDrivedebug = 0;
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#define Debug(l, f, args...) {if (l <= drvMDrivedebug) printf(f, ## args);}
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epicsExportAddress(int, drvMDrivedebug);
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#else
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#define Debug(l, f, args...)
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#endif
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#else
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#define Debug()
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#endif
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volatile int drvMDrivedebug = 0;
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extern "C" {epicsExportAddress(int, drvMDrivedebug);}
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/* --- Local data. --- */
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int MDrive_num_cards = 0;
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@@ -125,16 +129,11 @@ struct driver_table MDrive_access =
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struct
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{
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long number;
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#ifdef __cplusplus
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long (*report) (int);
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long (*init) (void);
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#else
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DRVSUPFUN report;
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DRVSUPFUN init;
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#endif
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} drvMDrive = {2, report, init};
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epicsExportAddress(drvet, drvMDrive);
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extern "C" {epicsExportAddress(drvet, drvMDrive);}
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static struct thread_args targs = {SCAN_RATE, &MDrive_access};
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@@ -407,16 +406,18 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
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{
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char local_buff[MAX_MSG_SIZE];
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struct IM483controller *cntrl;
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int size;
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int comsize, namesize;
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int nwrite;
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size = strlen(com);
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comsize = (com == NULL) ? 0 : strlen(com);
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namesize = (name == NULL) ? 0 : strlen(name);
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if (size > MAX_MSG_SIZE)
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if ((comsize + namesize) > MAX_MSG_SIZE)
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{
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errlogMessage("drvMDrive.c:send_mess(); message size violation.\n");
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return(ERROR);
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}
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else if (size == 0) /* Normal exit on empty input message. */
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else if (comsize == 0) /* Normal exit on empty input message. */
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return(OK);
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if (!motor_state[card])
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@@ -426,7 +427,7 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
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}
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/* Make a local copy of the string and add the command line terminator. */
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if (name != NULL)
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if (namesize != 0)
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{
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strcpy(local_buff, name); /* put in axis */
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strcat(local_buff, com);
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@@ -434,13 +435,11 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
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else
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strcpy(local_buff, com);
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strcat(local_buff, "\n");
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Debug(2, "send_mess(): message = %s\n", local_buff);
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cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
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pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
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COMM_TIMEOUT);
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COMM_TIMEOUT, &nwrite);
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return(OK);
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}
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@@ -453,34 +452,34 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
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static int eat_garbage(int card, char *com, int flag)
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{
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struct IM483controller *cntrl;
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int timeout;
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int flush = 0;
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int len = 0;
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int timeout = 0;
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int nread = 0;
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asynStatus status = asynError;
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int eomReason;
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/* Check that card exists */
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if (!motor_state[card])
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return (-1);
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return(ERROR);
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cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
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if (flag == FLUSH)
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timeout = 0;
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pasynOctetSyncIO->flush(cntrl->pasynUser);
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else
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timeout = COMM_TIMEOUT;
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status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
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timeout, &nread, &eomReason);
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/* Get the response. */
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len = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE, (char *) "\r\n",
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2, flush, timeout, &eomReason);
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Debug(2, "eat_garbage(): len = %i\n", len);
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if (len != 2)
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Debug(2, "eat_garbage(): nread = %i\n", nread);
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if ((status != asynSuccess) || (nread <= 0))
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{
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Debug(2, "eat_garbage(): com = \"%s\"\n", com);
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com[0] = '\0';
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com[0] = '\0';
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nread = 0;
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}
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/*Debug(2, "eat_garbage(): message = \"%s\"\n", com);*/
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return (len);
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return (nread);
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}
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@@ -491,9 +490,9 @@ static int eat_garbage(int card, char *com, int flag)
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static int recv_mess(int card, char *com, int flag)
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{
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struct IM483controller *cntrl;
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int timeout;
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int flush = 0;
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int len = 0;
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int timeout = 0;
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int nread = 0;
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asynStatus status = asynError;
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int eomReason;
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/* Check that card exists */
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@@ -503,23 +502,19 @@ static int recv_mess(int card, char *com, int flag)
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cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
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if (flag == FLUSH)
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timeout = 0;
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pasynOctetSyncIO->flush(cntrl->pasynUser);
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else
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timeout = COMM_TIMEOUT;
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/* Get the response. */
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len = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE, (char *) "\r\n",
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1, flush, timeout, &eomReason);
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status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
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timeout, &nread, &eomReason);
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if (len == 0)
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com[0] = '\0';
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else
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if ((status != asynSuccess) || (nread <= 0))
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{
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com[len - 2] = '\0'; /* Strip off trailing <CR LF>. */
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com[0] = '\0';
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nread = 0;
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}
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Debug(2, "recv_mess(): message = \"%s\"\n", com);
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return(len);
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return(nread);
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}
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@@ -597,6 +592,8 @@ static int motor_init()
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int total_axis = 0;
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int status;
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asynStatus success_rtn;
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static const char output_terminator[] = "\n";
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static const char input_terminator[] = "\r\n";
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initialized = true; /* Indicate that driver is initialized. */
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@@ -616,10 +613,15 @@ static int motor_init()
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cntrl = (struct IM483controller *) brdptr->DevicePrivate;
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/* Initialize communications channel */
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success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0, &cntrl->pasynUser);
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success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0,
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&cntrl->pasynUser, NULL);
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if (success_rtn == asynSuccess)
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{
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pasynOctetSyncIO->setOutputEos(cntrl->pasynUser, output_terminator,
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strlen(output_terminator));
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pasynOctetSyncIO->setInputEos(cntrl->pasynUser, input_terminator,
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strlen(input_terminator));
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/* Send a message to the board, see if it exists */
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/* flush any junk at input port - should not be any data available */
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pasynOctetSyncIO->flush(cntrl->pasynUser);
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