forked from epics_driver_modules/motorBase
*** empty log message ***
This commit is contained in:
Ron Sluiter
@@ -2,9 +2,9 @@
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FILENAME... drvPmac.cc
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USAGE... Driver level support for Delta Tau PMAC model.
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Version: $Revision: 1.9 $
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Version: $Revision: 1.10 $
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Modified By: $Author: sluiter $
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Last Modified: $Date: 2006-01-27 23:52:58 $
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Last Modified: $Date: 2009-05-01 18:26:30 $
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*/
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/*
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@@ -78,12 +78,18 @@ Last Modified: $Date: 2006-01-27 23:52:58 $
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/*----------------debugging-----------------*/
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#ifdef DEBUG
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volatile int drvPmacdebug = 0;
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#define Debug(l, f, args...) { if(l<=drvPmacdebug) printf(f,## args); }
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#ifdef __GNUG__
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#ifdef DEBUG
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#define Debug(l, f, args...) {if (l <= drvPmacdebug) \
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errlogPrintf(f, ## args);}
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#else
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#define Debug(l, f, args...)
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#endif
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#else
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#define Debug(l, f, args...)
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#define Debug
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#endif
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volatile int drvPmacdebug = 0;
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extern "C" {epicsExportAddress(int, drvPmacdebug);}
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/* Global data. */
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int Pmac_num_cards = 0;
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@@ -163,12 +169,12 @@ static long report(int level)
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int card;
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if (Pmac_num_cards <= 0)
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printf(" No VME8/44 controllers configured.\n");
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printf(" No PMAC controllers configured.\n");
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else
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{
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for (card = 0; card < Pmac_num_cards; card++)
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if (motor_state[card])
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printf(" Pmac VME8/44 motor card %d @ 0x%X, id: %s \n",
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printf(" PMAC motor card %d @ 0x%X, id: %s \n",
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card, (uint_t) motor_state[card]->localaddr,
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motor_state[card]->ident);
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}
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@@ -219,7 +225,7 @@ static int set_status(int card, int signal)
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recv_mess(card, buff, 1);
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motorData = atof(buff);
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motorData /= 32.0; /* Shift out fractionial data. */
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motorData /= cntrl->pos_scaleFac[card]; /* Shift out scale factor. */
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if (motorData == motor_info->position)
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{
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@@ -406,7 +412,7 @@ static int recv_mess(int card, char *com, int amount)
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pmotorState = motor_state[card];
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pmotor = (struct pmac_dpram *) pmotorState->localaddr;
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stptr = &pmotor->reply_status;
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stptr = (volatile REPLY_STATUS *) &pmotor->reply_status;
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/* Check that card exists */
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if (card >= total_cards)
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@@ -424,12 +430,12 @@ static int recv_mess(int card, char *com, int amount)
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{
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const double flush_delay = quantum;
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if (control == NULL)
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if (control == (char) NULL)
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{
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Debug(6, "recv_mess() - flush wait on NULL\n");
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epicsThreadSleep(flush_delay);
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control = stptr->Bits.cntrl_char;
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if (control == NULL)
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if (control == (char) NULL)
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flushed = true;
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else
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Debug(6, "recv_mess() - NULL -> %c\n", control);
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@@ -445,7 +451,7 @@ static int recv_mess(int card, char *com, int amount)
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{
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stptr->All = 0;
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Debug(6, "recv_mess() - flush wait on CR\n");
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for (trys = 0; trys < 10 && stptr->Bits.cntrl_char == NULL; trys++)
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for (trys = 0; trys < 10 && stptr->Bits.cntrl_char == (char) NULL; trys++)
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{
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epicsThreadSleep(quantum * trys);
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Debug(6, "recv_mess() - flush wait #%d\n", trys);
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@@ -531,7 +537,7 @@ static RTN_STATUS PmacPut(int card, char *pmess)
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pmotorState = motor_state[card];
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pmotor = (struct pmac_dpram *) pmotorState->localaddr;
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stptr = &pmotor->reply_status;
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stptr = (volatile REPLY_STATUS *) &pmotor->reply_status;
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for(itera = 0; itera < 10; itera++)
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{
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@@ -550,7 +556,7 @@ static RTN_STATUS PmacPut(int card, char *pmess)
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}
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/* Wait for response. */
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for (itera = 0; itera < 10 && stptr->Bits.cntrl_char == NULL; itera++)
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for (itera = 0; itera < 10 && stptr->Bits.cntrl_char == (char) NULL; itera++)
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{
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epicsThreadSleep(quantum * itera);
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Debug(7, "PmacPut() - response wait #%d\n", itera);
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@@ -820,7 +826,13 @@ static int motor_init()
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pmotor = (struct pmac_dpram *) pmotorState->localaddr;
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pmotor->out_cntrl_wd = 0; /* Clear "Data ready from host" bit indicator. */
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pmotor->out_cntrl_char = 0; /* Clear "Buffer Control Character. */
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pmotor->reply_status.All = 0;
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pmotor->reply_status = 0;
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{
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epicsUInt8 count;
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count = pmotor->reply_count;
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pmotor->na2 = count;
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count = pmotor->response[0];
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}
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send_mess(card_index, "TYPE", (char) NULL);
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recv_mess(card_index, (char *) pmotorState->ident, 1);
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@@ -853,12 +865,10 @@ static int motor_init()
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sprintf(outbuf, "I%.2d21=0", (total_axis + 1));
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send_mess(card_index, outbuf, (char) NULL);
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/* ????? Read and save Position Scale Factor. ??????
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sprintf(outbuf, "I%.2d08", (total_axis + 1));
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send_mess(card_index, outbuf, (char) NULL);
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recv_mess(card_index, axis_pos, 1);
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cntrl->pos_scaleFac[total_axis] = atof(axis_pos) * 32.0;
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*/
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}
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else
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{
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@@ -2,9 +2,9 @@
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FILENAME... drvPmac.h
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USAGE... This file contains Delta Tau PMAC driver "include" information.
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Version: $Revision: 1.2 $
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Version: $Revision: 1.3 $
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Modified By: $Author: sluiter $
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Last Modified: $Date: 2004-09-15 18:48:35 $
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Last Modified: $Date: 2009-05-01 18:26:29 $
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*/
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/*
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@@ -209,7 +209,7 @@ struct pmac_dpram
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epicsUInt8 na1;
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epicsUInt16 out_cntrl_char; /* Control Character at 0x0E9E. */
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epicsUInt8 cmndbuff[160]; /* Command Buffer at 0x0EA0. */
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REPLY_STATUS reply_status; /* Response Buffer Control Characters. */
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epicsUInt16 reply_status; /* Response Buffer Control Characters. */
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epicsUInt8 reply_count; /* Response Character count - 1. */
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epicsUInt8 na2;
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epicsUInt8 response[256]; /* Response Buffer at 0x0F44. */
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