lin-epics-modules/motorBase
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- Normal exit from send_mess() with no operation, if message is empty.

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- In set_status(), support reading encoder.
- In motor_init(), assume encoder supported and present.
This commit is contained in:
Ron Sluiter
2002-03-29 21:15:24 +00:00
parent eab51467ef
commit 2abec66d51
1 changed files with 22 additions and 11 deletions
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motorApp/ImsSrc/drvIM483PL.c
+22 -11
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@@ -3,9 +3,9 @@ FILENAME... drvIM483PL.c
USAGE... Motor record driver level support for Intelligent Motion
Systems, Inc. IM483(I/IE).
Version: $Revision: 1.3 $
Version: $Revision: 1.4 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2001-12-14 20:49:10 $
Last Modified: $Date: 2002-03-29 21:15:24 $
*/
/*
@@ -334,14 +334,19 @@ STATIC int set_status(int card, int signal)
else
{
motor_info->position = NINT(motorData);
if (motor_state[card]->motor_info[signal].encoder_present == YES)
motor_info->encoder_position = (epicsInt32) motorData;
else
motor_info->encoder_position = 0;
motor_info->no_motion_count = 0;
}
if (motor_state[card]->motor_info[signal].encoder_present == NO)
motor_info->encoder_position = 0;
else
{
send_mess(card, "? z 0", IM483PL_axis[signal]);
recv_mess(card, buff, 1);
motorData = atof(&buff[5]);
motor_info->encoder_position = (int32_t) motorData;
}
motor_info->status &= ~RA_PROBLEM;
/* Parse motor velocity? */
@@ -377,13 +382,18 @@ STATIC int send_mess(int card, char const *com, char inchar)
char *head, *end, local_buff[MAX_MSG_SIZE];
struct IM483controller *cntrl;
BOOLEAN lastcmnd = OFF;
int size;
if (strlen(com) > MAX_MSG_SIZE)
size = strlen(com);
if (size > MAX_MSG_SIZE)
{
logMsg((char *) "drvIM483PL.c:send_mess(); message size violation.\n",
0, 0, 0, 0, 0, 0);
return (-1);
}
else if (size == 0) /* Normal exit on empty input message. */
return (0);
if (!motor_state[card])
{
@@ -393,7 +403,7 @@ STATIC int send_mess(int card, char const *com, char inchar)
}
head = (char *) com;
end = head + strlen(com);
end = head + size;
while (lastcmnd == OFF)
{
@@ -614,13 +624,14 @@ STATIC int motor_init()
motor_info->encoder_position = 0;
motor_info->position = 0;
brdptr->motor_info[motor_index].motor_motion = NULL;
/* Assume encoder support, i.e., IM483IE. */
motor_info->encoder_present = YES;
motor_info->status |= EA_PRESENT;
/* Determine if encoder present based on open/closed loop mode. */
loop_state = NULL;
if (loop_state != 0)
{
motor_info->encoder_present = YES;
motor_info->status |= EA_PRESENT;
motor_info->pid_present = YES;
motor_info->status |= GAIN_SUPPORT;
}