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- Removed unused command type, QUERY.

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- Added support for unsolicited controller responses.
This commit is contained in:
Ron Sluiter
2000-06-14 15:11:37 +00:00
parent 4e7b1bf996
commit 4a197dcd73
1 changed files with 12 additions and 9 deletions
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motorApp/MotorSrc/motordrvCom.c
+12 -9
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@@ -3,9 +3,9 @@ FILENAME... motordrvCom.c
USAGE... This file contains driver functions that are common
to all motor record driver modules.
Version: $Revision: 1.2 $
Version: $Revision: 1.3 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2000-03-03 22:18:30 $
Last Modified: $Date: 2000-06-14 15:11:37 $
*/
/*
@@ -246,20 +246,18 @@ static void process_messages(struct driver_table *tabptr, ULONG tick)
(node->signal >= 0 && node->signal < (*tabptr->card_array)[node->card]->total_axis))
{
struct mess_info *motor_info;
struct controller *brdptr;
motor_info = &((*tabptr->card_array)[node->card]->motor_info[node->signal]);
motor_motion = motor_info->motor_motion;
brdptr = (*tabptr->card_array)[node->card];
switch (node->type)
{
case QUERY:
(*tabptr->sendmsg) (node->card, node->message, (char) NULL);
(*tabptr->getmsg) (node->card, node->message, 1);
callbackRequest((CALLBACK *) node);
break;
case VELOCITY:
(*tabptr->sendmsg) (node->card, node->message, (char) NULL);
if (brdptr->cmnd_response == ON)
(*tabptr->getmsg) (node->card, node->message, 1);
/*
* this is tricky - another motion is here there is a very
@@ -286,6 +284,8 @@ static void process_messages(struct driver_table *tabptr, ULONG tick)
case MOTION:
(*tabptr->sendmsg) (node->card, node->message, (char) NULL);
if (brdptr->cmnd_response == ON)
(*tabptr->getmsg) (node->card, node->message, 1);
/* this is tricky - see velocity comment */
if (!motor_motion) /* if NULL */
@@ -332,11 +332,15 @@ static void process_messages(struct driver_table *tabptr, ULONG tick)
case MOVE_TERM:
(*tabptr->sendmsg) (node->card, node->message, (char) NULL);
if (brdptr->cmnd_response == ON)
(*tabptr->getmsg) (node->card, node->message, 1);
motor_free(node, tabptr); /* free message buffer */
break;
default:
(*tabptr->sendmsg) (node->card, node->message, (char) NULL);
if (brdptr->cmnd_response == ON)
(*tabptr->getmsg) (node->card, node->message, 1);
motor_free(node, tabptr); /* free message buffer */
motor_info->status_delay = tick;
break;
@@ -418,7 +422,6 @@ int motor_send(struct mess_node *u_msg, struct driver_table *tabptr, char *cmnd_
break;
case VELOCITY:
case IMMEDIATE:
case QUERY:
case INFO:
break;
default: