From 241f2f24b6aaa5c77515c73e76573423caa24f5f Mon Sep 17 00:00:00 2001 From: Ron Sluiter Date: Wed, 24 Apr 2013 18:44:23 +0000 Subject: [PATCH] Reformatting only; tabs to spaces. --- motorApp/MotorSrc/motor.h | 162 +++++++++++++++++++------------------- 1 file changed, 81 insertions(+), 81 deletions(-) diff --git a/motorApp/MotorSrc/motor.h b/motorApp/MotorSrc/motor.h index 3f11b32b..30ae512d 100644 --- a/motorApp/MotorSrc/motor.h +++ b/motorApp/MotorSrc/motor.h @@ -1,11 +1,11 @@ /* -FILENAME... motor.h -USAGE... Definitions and structures common to all levels of motorRecord - support (i.e., record, device and driver). +FILENAME... motor.h +USAGE... Definitions and structures common to all levels of motorRecord + support (i.e., record, device and driver). -Version: $Revision: 1.21 $ -Modified By: $Author: sluiter $ -Last Modified: $Date: 2009-04-27 14:28:42 $ +Version: $Revision: 1.21 $ +Modified By: $Author: sluiter $ +Last Modified: $Date: 2009-04-27 14:28:42 $ */ /* @@ -22,27 +22,27 @@ Last Modified: $Date: 2009-04-27 14:28:42 $ * and (W-31-109-ENG-38) at Argonne National Laboratory. * * Initial development by: - * The Controls and Automation Group (AT-8) - * Ground Test Accelerator - * Accelerator Technology Division - * Los Alamos National Laboratory + * The Controls and Automation Group (AT-8) + * Ground Test Accelerator + * Accelerator Technology Division + * Los Alamos National Laboratory * * Co-developed with - * The Controls and Computing Group - * Accelerator Systems Division - * Advanced Photon Source - * Argonne National Laboratory + * The Controls and Computing Group + * Accelerator Systems Division + * Advanced Photon Source + * Argonne National Laboratory * * Modification Log: * ----------------- * * .01 10-21-02 rls - Convert to R3.14.x and C++. * .02 12-12-03 rls - Added MAX_SCAN_RATE. - * - Converted MSTA #define's to bit field. + * - Converted MSTA #define's to bit field. * .03 08-30-04 rls - Added osiUnistd.h for RTEMS. * .04 09-20-04 rls - Increase max. axis / board to 32 for Delta Tau PMAC. * .05 12-21-04 rls - Changed pre-compiler instructions for LSB/MSB_First - * to support MS Visual C. + * to support MS Visual C. * .06 01-27-06 rls - Added LT_EPICSBASE macro for test EPICS base versions. * .07 11-19-08 rls - More extensive bit field tests. * .08 00-09-10 rls - GNU preprocessor assertions are deprecated with VxWorks @@ -53,8 +53,8 @@ Last Modified: $Date: 2009-04-27 14:28:42 $ * the defined() operator. */ -#ifndef INCmotorh -#define INCmotorh 1 +#ifndef INCmotorh +#define INCmotorh 1 #include #include @@ -67,7 +67,7 @@ Last Modified: $Date: 2009-04-27 14:28:42 $ /* Maximum message size of all supported devices; see drv[device].h for maximum message size for each device. */ -#define MAX_MSG_SIZE 300 +#define MAX_MSG_SIZE 300 #if defined(OK) #undef OK @@ -81,7 +81,7 @@ typedef enum RTN_VALUES {OK = 0, ERROR = 1} RTN_STATUS; typedef enum CALLBACK_VALUES {NOTHING_DONE = 0, CALLBACK_DATA = 1} CALLBACK_VALUE; -#define NINT(f) (long)((f)>0 ? (f)+0.5 : (f)-0.5) /* Nearest integer. */ +#define NINT(f) (long)((f)>0 ? (f)+0.5 : (f)-0.5) /* Nearest integer. */ /* Motor Record Command Set. !WARNING! this enumeration must match ALL of the following (up to and including JOG_VELOCITY); @@ -90,42 +90,42 @@ typedef enum CALLBACK_VALUES {NOTHING_DONE = 0, CALLBACK_DATA = 1} CALLBACK_VALU */ typedef enum { - MOVE_ABS, /* Absolute Move. */ - MOVE_REL, /* Relative Move. */ - HOME_FOR, /* Home Forward. */ - HOME_REV, /* Home Reverse. */ - LOAD_POS, /* Load Position. */ - SET_VEL_BASE, /* Set Minimum Velocity. */ - SET_VELOCITY, /* Set Jog and Trajectory Velocity. */ - SET_ACCEL, /* Set Acceleration. */ - GO, /* Start previously programmed move. */ - SET_ENC_RATIO, /* Set Encoder Ratio. */ - GET_INFO, /* Update Motor Status. */ - STOP_AXIS, /* Stop Axis Motion. */ - JOG, /* Momentary Jog. */ - SET_PGAIN, /* Set Proportional Gain. */ - SET_IGAIN, /* Set Integral Gain. */ - SET_DGAIN, /* Set Derivative Gain. */ - ENABLE_TORQUE, /* Enable Servo Closed-Loop Control. */ - DISABL_TORQUE, /* Disable Servo Closed-Loop Control. */ - PRIMITIVE, /* Primitive Controller command. */ - SET_HIGH_LIMIT, /* Set High Travel Limit. */ - SET_LOW_LIMIT, /* Set Low Travel Limit. */ - JOG_VELOCITY, /* Change Jog velocity. */ - SET_RESOLUTION /* Set resolution */ + MOVE_ABS, /* Absolute Move. */ + MOVE_REL, /* Relative Move. */ + HOME_FOR, /* Home Forward. */ + HOME_REV, /* Home Reverse. */ + LOAD_POS, /* Load Position. */ + SET_VEL_BASE, /* Set Minimum Velocity. */ + SET_VELOCITY, /* Set Jog and Trajectory Velocity. */ + SET_ACCEL, /* Set Acceleration. */ + GO, /* Start previously programmed move. */ + SET_ENC_RATIO, /* Set Encoder Ratio. */ + GET_INFO, /* Update Motor Status. */ + STOP_AXIS, /* Stop Axis Motion. */ + JOG, /* Momentary Jog. */ + SET_PGAIN, /* Set Proportional Gain. */ + SET_IGAIN, /* Set Integral Gain. */ + SET_DGAIN, /* Set Derivative Gain. */ + ENABLE_TORQUE, /* Enable Servo Closed-Loop Control. */ + DISABL_TORQUE, /* Disable Servo Closed-Loop Control. */ + PRIMITIVE, /* Primitive Controller command. */ + SET_HIGH_LIMIT, /* Set High Travel Limit. */ + SET_LOW_LIMIT, /* Set Low Travel Limit. */ + JOG_VELOCITY, /* Change Jog velocity. */ + SET_RESOLUTION /* Set resolution */ } motor_cmnd; /* -------------------------------------------------- */ /* driver and device support parameters */ -#define MAX_SCAN_RATE 60 /* Maximum polling rate in HZ. */ -#define SCAN_RATE 6 /* Default polling rate in HZ. */ -#define MAX_COUNT 50000 /*19000*/ /* timeout value */ -#define MAX_AXIS 32 /* max number of axis per board */ +#define MAX_SCAN_RATE 60 /* Maximum polling rate in HZ. */ +#define SCAN_RATE 6 /* Default polling rate in HZ. */ +#define MAX_COUNT 50000 /*19000*/ /* timeout value */ +#define MAX_AXIS 32 /* max number of axis per board */ -#define NO 0 -#define YES 1 +#define NO 0 +#define YES 1 /* Define, from top to bottom, how bit fields are packed. */ /* This works for gnu, SunPro, MS Visual C. */ @@ -137,7 +137,7 @@ typedef enum { #define LSB_First (TRUE) /* LSB is packed first. */ #elif defined(sparc) || defined(m68k) || defined(powerpc) #define MSB_First (TRUE) /* MSB is packed first. */ -#elif (CPU == PPC604) || (CPU == PPC603) || (CPU==PPC85XX) || (CPU == MC68040) || (CPU == PPC32) +#elif (CPU == PPC604) || (CPU == PPC603) || (CPU == PPC85XX) || (CPU == MC68040) || (CPU == PPC32) #define MSB_First (TRUE) /* MSB is packed first. */ #else #error: unknown bit order! @@ -152,39 +152,39 @@ typedef union struct { #ifdef MSB_First - unsigned int na :17;/* N/A bits */ + unsigned int na :17;/* N/A bits */ unsigned int RA_HOMED :1; /* Axis has been homed.*/ - unsigned int RA_MINUS_LS :1; /* minus limit switch has been hit */ - unsigned int CNTRL_COMM_ERR :1; /* Controller communication error. */ - unsigned int GAIN_SUPPORT :1; /* Motor supports closed-loop position control. */ - unsigned int RA_MOVING :1; /* non-zero velocity present */ - unsigned int RA_PROBLEM :1; /* driver stopped polling */ - unsigned int EA_PRESENT :1; /* encoder is present */ - unsigned int EA_HOME :1; /* encoder home signal on */ - unsigned int EA_SLIP_STALL :1; /* slip/stall detected */ - unsigned int EA_POSITION :1; /* position maintenence enabled */ - unsigned int EA_SLIP :1; /* encoder slip enabled */ - unsigned int RA_HOME :1; /* The home signal is on */ - unsigned int RA_PLUS_LS :1; /* plus limit switch has been hit */ - unsigned int RA_DONE :1; /* a motion is complete */ - unsigned int RA_DIRECTION :1; /* (last) 0=Negative, 1=Positive */ + unsigned int RA_MINUS_LS :1; /* minus limit switch has been hit */ + unsigned int CNTRL_COMM_ERR :1; /* Controller communication error. */ + unsigned int GAIN_SUPPORT :1; /* Motor supports closed-loop position control. */ + unsigned int RA_MOVING :1; /* non-zero velocity present */ + unsigned int RA_PROBLEM :1; /* driver stopped polling */ + unsigned int EA_PRESENT :1; /* encoder is present */ + unsigned int EA_HOME :1; /* encoder home signal on */ + unsigned int EA_SLIP_STALL :1; /* slip/stall detected */ + unsigned int EA_POSITION :1; /* position maintenence enabled */ + unsigned int EA_SLIP :1; /* encoder slip enabled */ + unsigned int RA_HOME :1; /* The home signal is on */ + unsigned int RA_PLUS_LS :1; /* plus limit switch has been hit */ + unsigned int RA_DONE :1; /* a motion is complete */ + unsigned int RA_DIRECTION :1; /* (last) 0=Negative, 1=Positive */ #else - unsigned int RA_DIRECTION :1; /* (last) 0=Negative, 1=Positive */ - unsigned int RA_DONE :1; /* a motion is complete */ - unsigned int RA_PLUS_LS :1; /* plus limit switch has been hit */ - unsigned int RA_HOME :1; /* The home signal is on */ - unsigned int EA_SLIP :1; /* encoder slip enabled */ - unsigned int EA_POSITION :1; /* position maintenence enabled */ - unsigned int EA_SLIP_STALL :1; /* slip/stall detected */ - unsigned int EA_HOME :1; /* encoder home signal on */ - unsigned int EA_PRESENT :1; /* encoder is present */ - unsigned int RA_PROBLEM :1; /* driver stopped polling */ - unsigned int RA_MOVING :1; /* non-zero velocity present */ - unsigned int GAIN_SUPPORT :1; /* Motor supports closed-loop position control. */ - unsigned int CNTRL_COMM_ERR :1; /* Controller communication error. */ - unsigned int RA_MINUS_LS :1; /* minus limit switch has been hit */ + unsigned int RA_DIRECTION :1; /* (last) 0=Negative, 1=Positive */ + unsigned int RA_DONE :1; /* a motion is complete */ + unsigned int RA_PLUS_LS :1; /* plus limit switch has been hit */ + unsigned int RA_HOME :1; /* The home signal is on */ + unsigned int EA_SLIP :1; /* encoder slip enabled */ + unsigned int EA_POSITION :1; /* position maintenence enabled */ + unsigned int EA_SLIP_STALL :1; /* slip/stall detected */ + unsigned int EA_HOME :1; /* encoder home signal on */ + unsigned int EA_PRESENT :1; /* encoder is present */ + unsigned int RA_PROBLEM :1; /* driver stopped polling */ + unsigned int RA_MOVING :1; /* non-zero velocity present */ + unsigned int GAIN_SUPPORT :1; /* Motor supports closed-loop position control. */ + unsigned int CNTRL_COMM_ERR :1; /* Controller communication error. */ + unsigned int RA_MINUS_LS :1; /* minus limit switch has been hit */ unsigned int RA_HOMED :1; /* Axis has been homed.*/ - unsigned int na :17;/* N/A bits */ + unsigned int na :17;/* N/A bits */ #endif } Bits; } msta_field; @@ -212,5 +212,5 @@ struct motor_dset /* All db_post_events() calls set both VALUE and LOG bits. */ #define DBE_VAL_LOG (unsigned int) (DBE_VALUE | DBE_LOG) -#endif /* INCmotorh */ +#endif /* INCmotorh */