lin-epics-modules/motorBase
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bug fix - various bug fixes

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input eos was not getting reset after motor_init
	change input eos on STA command from <nl> to '>'
	change go command for 8750 compatability
This commit is contained in:
jsullivan-anl
2006-09-22 16:33:59 +00:00
parent 9c5b48d80f
commit 43ccf1309b
2 changed files with 43 additions and 26 deletions
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motorApp/NewFocusSrc/devPMNC87xx.cc
+20 -10
View File
@@ -232,12 +232,12 @@ STATIC RTN_STATUS PMNC87xx_build_trans(motor_cmnd command, double *parms, struct
{
case MOVE_ABS:
if (dType == PMD8753)
sprintf(buff, "REL A%d=%d G", drive, intval-motor_info->position);
sprintf(buff, "REL A%d=%d", drive, intval-motor_info->position);
else
sprintf(buff, "ABS A%d=%d G", drive, intval);
sprintf(buff, "ABS A%d=%d", drive, intval);
break;
case MOVE_REL:
sprintf(buff, "REL A%d=%d G", drive, intval);
sprintf(buff, "REL A%d=%d", drive, intval);
break;
case HOME_FOR:
// if (dType == PMD8751)
@@ -260,6 +260,8 @@ STATIC RTN_STATUS PMNC87xx_build_trans(motor_cmnd command, double *parms, struct
/* Setting local driver position because the controller cannot be set */
sprintf(buff, "CHL A%d=%d", drive, motor);
motor_info->position = intval;
motor_info->encoder_position = intval;
cntrl->last_position[axis] = 0; // Used to accumulate position history
}
else if (dType == PMD8751)
{
@@ -308,8 +310,7 @@ STATIC RTN_STATUS PMNC87xx_build_trans(motor_cmnd command, double *parms, struct
sprintf(buff, "ACC A%d %d=%d", drive, motor, intval);
break;
case GO:
// GO included in motion commands - fake command to get response
sprintf(buff, "CHL %d", drive);
sprintf(buff, "GO A%d", drive);
break;
case SET_ENC_RATIO:
trans->state = IDLE_STATE; /* No command sent to the controller. */
@@ -328,9 +329,9 @@ STATIC RTN_STATUS PMNC87xx_build_trans(motor_cmnd command, double *parms, struct
if (dType == PMD8753)
{
if (intval >= 0)
sprintf(buff, "FOR A%d=%d G", drive, intval);
sprintf(buff, "FOR A%d=%d", drive, intval);
else
sprintf(buff, "REV A%d=%d G", drive, abs(intval));
sprintf(buff, "REV A%d=%d", drive, abs(intval));
}
else if (dType == PMD8751)
{
@@ -347,13 +348,22 @@ STATIC RTN_STATUS PMNC87xx_build_trans(motor_cmnd command, double *parms, struct
// because the 8751 does not indicate motion with (FOR and REV)
// ** BUG? **
if (intval >= 0)
sprintf(buff, "REL A%d=1000000 G",drive);
sprintf(buff, "REL A%d=1000000",drive);
else
sprintf(buff, "REL A%d=-1000000 G",drive);
}
sprintf(buff, "REL A%d=-1000000",drive);
}
else
{
sendMsg = false;
break;
}
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PMNC87xx_cards);
motor_call->type = PMNC87xx_table[command];
sprintf(buff, "GO A%d", drive);
break;
case SET_PGAIN:
case SET_IGAIN:
motorApp/NewFocusSrc/drvPMNC87xx.cc
+23 -16
View File
@@ -318,7 +318,8 @@ STATIC int set_status(int card, int signal)
sprintf(buff, READ_STATUS, driverID);
pStr = cntrl->status_string[driverID];
/* STATUS command does not return a prompt - bug? */
recvRtn = send_recv_mess(card, buff, pStr, NL_EOS);
// recvRtn = send_recv_mess(card, buff, pStr, NL_EOS);
recvRtn = send_recv_mess(card, buff, pStr, NULL);
CHECKRTN;
Debug(2, "set_status(): Status_string=%s\n", pStr);
if (sscanf(pStr, "A%d=0x%x",&recvDriver, &recvStatus) == 2)
@@ -558,6 +559,10 @@ STATIC int send_recv_mess(int card, char const *send_com, char *recv_com, char c
status = pasynOctetSyncIO->writeRead(cntrl->pasynUser, send_com, size,
recv_com, BUFF_SIZE-1,
PMNC_TIMEOUT, &nwrite, &nread, &eomReason);
if (eos)
// Reset EOS to default
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,PROMPT_EOS,strlen(PROMPT_EOS));
if (status != asynSuccess)
{
Debug(3, "send_recv_mess(): ERROR - staus =%d, nread = %d\n", (int) status, nread);
@@ -565,13 +570,7 @@ STATIC int send_recv_mess(int card, char const *send_com, char *recv_com, char c
return(MESS_ERR);
}
if (eos)
// Reset EOS to default
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,PROMPT_EOS,strlen(PROMPT_EOS));
Debug(2, "send_recv_mess(): recv message = \"%s\"\n", recv_com);
return(nread);
}
@@ -669,6 +668,7 @@ STATIC int recv_mess(int card, char *com, int flag)
int flush = 1;
size_t nread = 0;
int eomReason;
int rtnValue;
asynStatus status;
/* Check that card exists */
@@ -690,18 +690,23 @@ STATIC int recv_mess(int card, char *com, int flag)
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
timeout, &nread, &eomReason);
if (status != asynSuccess)
{
com[0] = '\0';
return(MESS_ERR);
}
if (flag == 0)
// Reset EOS to '\n'
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,PROMPT_EOS,strlen(PROMPT_EOS));
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return (nread);
if (status != asynSuccess)
{
com[0] = '\0';
rtnValue = MESS_ERR;
Debug(3, "recv_mess(): ERROR - staus =%d, nread = %d\n", (int) status, nread);
}
else
{
Debug(2, "recv_mess(): message = \"%s\"\n", com);
rtnValue = nread;
}
return (rtnValue);
}
@@ -837,7 +842,7 @@ STATIC int motor_init()
// Resetting the controller loses the ethernet connection - bad idea
if (NULL)
if (false)
{
/* Reset Controller: takes > 5 sec */
send_recv_mess(card_index, INIT_ALL, nobuff, NULL);
@@ -957,6 +962,8 @@ STATIC int motor_init()
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
cntrl->last_position[motor_index] = 0; /* Used to accumulate position on 8753 drivers */
/* Encoder Enable */
motor_info->encoder_present = YES;