lin-epics-modules/motorBase
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- "PR PN" response overflows input buffer; increased BUFF_SIZE from 13 to 80 bytes.

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- Slow "PR PN" response; increased timeout from 1 to 2 sec.
 - Extra "\r\n" from "PR PN" response; buffer flush added.
 - Eliminate compiler warnings on MDrive_axis[].
This commit is contained in:
Ron Sluiter
2012-02-07 17:45:26 +00:00
parent cca883b68f
commit 43fe29315d
1 changed files with 19 additions and 7 deletions
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motorApp/ImsSrc/drvMDrive.cc
+19 -7
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@@ -39,6 +39,7 @@ HeadURL: $URL$
* Verified with firmware:
*
* - 1.071 E
* - 3.003 (MDI1FRD17B4-EQ
* - 3.010
*
* Modification Log:
@@ -60,6 +61,11 @@ HeadURL: $URL$
* .08 12/17/10 rls - Test to determine if encoder is present changed to
* accommodate new firmware.
* - support actual velocity status update.
* .09 02/06/11 rls - "PR PN" response overflows input buffer; increased
* BUFF_SIZE from 13 to 80 bytes.
* - Slow "PR PN" response; increased timeout from 1 to 2 sec.
* - Extra "\r\n" from "PR PN" response; buffer flush added.
* - Eliminate compiler warnings on MDrive_axis[].
*/
/*
@@ -81,7 +87,7 @@ DESIGN LIMITATIONS...
#define MDrive_NUM_CARDS 8
#define MAX_AXES 8
#define BUFF_SIZE 13 /* Maximum length of string to/from MDrive */
#define BUFF_SIZE 80 /* Maximum length of string to/from MDrive */
/*----------------debugging-----------------*/
volatile int drvMDrivedebug = 0;
@@ -100,14 +106,14 @@ static inline void Debug(int level, const char *format, ...) {
/* --- Local data. --- */
int MDrive_num_cards = 0;
static char *MDrive_axis[] = {"1", "2", "3", "4", "5", "6", "7", "8"};
static const char* const MDrive_axis[] = {"1", "2", "3", "4", "5", "6", "7", "8"};
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/*----------------functions-----------------*/
static int recv_mess(int, char *, int);
static RTN_STATUS send_mess(int, char const *, char *);
static RTN_STATUS send_mess(int, char const *, const char *const);
static int set_status(int, int);
static long report(int);
static long init();
@@ -131,13 +137,13 @@ struct driver_table MDrive_access =
&motor_state,
&total_cards,
&any_motor_in_motion,
send_mess,
(RTN_STATUS (*)(int, const char*, char*)) send_mess,
recv_mess,
set_status,
query_done,
NULL,
&initialized,
MDrive_axis
(char **) MDrive_axis
};
struct drvMDrive_drvet
@@ -251,6 +257,9 @@ static int set_status(int card, int signal)
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
/* Protect against extra "\r\n" terminator. */
rtn_state = recv_mess(card, buff, FLUSH);
send_mess(card, "PR MV", MDrive_axis[signal]);
rtn_state = recv_mess(card, buff, 1);
if (rtn_state > 0)
@@ -408,7 +417,7 @@ exit:
/* send a message to the MDrive board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
static RTN_STATUS send_mess(int card, char const *com, const char *const name)
{
char local_buff[MAX_MSG_SIZE];
struct IM483controller *cntrl;
@@ -458,7 +467,7 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
static int recv_mess(int card, char *com, int flag)
{
struct IM483controller *cntrl;
const double timeout = 1.0;
const double timeout = 2.0;
size_t nread = 0;
asynStatus status = asynError;
int eomReason;
@@ -668,6 +677,9 @@ static int motor_init()
else
motor_info->encoder_present = NO;
/* Protect against extra "\r\n" terminator. */
status = recv_mess(card_index, buff, 1);
/* Determine input configuration. */
confptr->homeLS = confptr->minusLS = confptr->plusLS = 0;