lin-epics-modules/motorBase
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- Eliminated SET_ENC_RATIO command.

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- In build_trans(), must send empty message for GET_INFO command.
This commit is contained in:
Ron Sluiter
2002-04-01 22:33:46 +00:00
parent 2abec66d51
commit 4ca495ad75
2 changed files with 25 additions and 22 deletions
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motorApp/ImsSrc/devIM483PL.c
+12 -11
View File
@@ -3,9 +3,9 @@ FILENAME... devIM483PL.c
USAGE... Motor record device level support for Intelligent Motion
Systems, Inc. IM483(I/IE).
Version: $Revision: 1.5 $
Version: $Revision: 1.6 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-03-29 21:08:52 $
Last Modified: $Date: 2002-04-01 22:33:45 $
*/
/*
@@ -106,7 +106,6 @@ static int IM483PL_table[] = {
IMMEDIATE, /* SET_VELOCITY */
IMMEDIATE, /* SET_ACCEL */
IMMEDIATE, /* GO */
IMMEDIATE, /* SET_ENC_RATIO */
INFO, /* GET_INFO */
MOVE_TERM, /* STOP_AXIS */
VELOCITY, /* JOG */
@@ -185,7 +184,9 @@ STATIC long IM483PL_build_trans(motor_cmnd command, double *parms, struct motorR
int axis, card, maxdigits, size;
double dval, cntrl_units;
long rtnval;
BOOLEAN send;
send = ON; /* Default to send motor command. */
rtnval = OK;
buff[0] = '\0';
dval = *parms;
@@ -255,7 +256,10 @@ STATIC long IM483PL_build_trans(motor_cmnd command, double *parms, struct motorR
if (cntrl_units == 0.0)
sprintf(buff, "? O");
else
{
send = OFF;
rtnval = ERROR;
}
break;
case SET_VEL_BASE:
@@ -268,18 +272,13 @@ STATIC long IM483PL_build_trans(motor_cmnd command, double *parms, struct motorR
case SET_ACCEL:
/* ????? MAKE SENSE OF ACCELERATION PARAMETER ??????*/
send = OFF;
break;
case GO:
/* The IM483PL starts moving immediately on move commands, GO command
* does nothing. */
break;
case SET_ENC_RATIO:
/*
* The IM483PL does not have the concept of encoder ratio, ignore this
* command
*/
send = OFF;
break;
case GET_INFO:
@@ -300,6 +299,7 @@ STATIC long IM483PL_build_trans(motor_cmnd command, double *parms, struct motorR
case SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
send = OFF;
break;
case ENABLE_TORQUE:
@@ -313,6 +313,7 @@ STATIC long IM483PL_build_trans(motor_cmnd command, double *parms, struct motorR
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
trans->state = IDLE_STATE; /* No command sent to the controller. */
send = OFF;
break;
default:
@@ -320,7 +321,7 @@ STATIC long IM483PL_build_trans(motor_cmnd command, double *parms, struct motorR
}
size = strlen(buff);
if (size == 0)
if (send == OFF)
return(rtnval);
else if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
logMsg((char *) "IM483PL_build_trans(): buffer overflow.\n", 0, 0, 0, 0, 0, 0);
motorApp/ImsSrc/devIM483SM.c
+13 -11
View File
@@ -3,9 +3,9 @@ FILENAME... devIM483SM.c
USAGE... Motor record device level support for Intelligent Motion
Systems, Inc. IM483(I/IE).
Version: $Revision: 1.5 $
Version: $Revision: 1.6 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-03-29 21:08:53 $
Last Modified: $Date: 2002-04-01 22:33:46 $
*/
/*
@@ -106,7 +106,6 @@ static int IM483SM_table[] = {
IMMEDIATE, /* SET_VELOCITY */
IMMEDIATE, /* SET_ACCEL */
IMMEDIATE, /* GO */
IMMEDIATE, /* SET_ENC_RATIO */
INFO, /* GET_INFO */
MOVE_TERM, /* STOP_AXIS */
VELOCITY, /* JOG */
@@ -185,7 +184,9 @@ STATIC long IM483SM_build_trans(motor_cmnd command, double *parms, struct motorR
int axis, card, maxdigits, size;
double dval, cntrl_units;
long rtnval;
BOOLEAN send;
send = ON; /* Default to send motor command. */
rtnval = OK;
buff[0] = '\0';
dval = *parms;
@@ -255,7 +256,10 @@ STATIC long IM483SM_build_trans(motor_cmnd command, double *parms, struct motorR
if (cntrl_units == 0.0)
sprintf(buff, "O");
else
{
send = OFF;
rtnval = ERROR;
}
break;
case SET_VEL_BASE:
@@ -268,18 +272,13 @@ STATIC long IM483SM_build_trans(motor_cmnd command, double *parms, struct motorR
case SET_ACCEL:
/* ????? MAKE SENSE OF ACCELERATION PARAMETER ??????*/
send = OFF;
break;
case GO:
/* The IM483 starts moving immediately on move commands, GO command
* does nothing. */
break;
case SET_ENC_RATIO:
/*
* The IM483 does not have the concept of encoder ratio, ignore this
* command
*/
send = OFF;
break;
case GET_INFO:
@@ -300,6 +299,7 @@ STATIC long IM483SM_build_trans(motor_cmnd command, double *parms, struct motorR
case SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
send = OFF;
break;
case ENABLE_TORQUE:
@@ -313,14 +313,16 @@ STATIC long IM483SM_build_trans(motor_cmnd command, double *parms, struct motorR
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
trans->state = IDLE_STATE; /* No command sent to the controller. */
send = OFF;
break;
default:
send = OFF;
rtnval = ERROR;
}
size = strlen(buff);
if (size == 0)
if (send == OFF)
return(rtnval);
else if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
logMsg((char *) "IM483SM_build_trans(): buffer overflow.\n", 0, 0, 0, 0, 0, 0);