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- Enumerate message types.

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- Removed 'axis_names' from structure; implemented driver specific axis name arrays.
- Removed command line termination character from send() arguments.
- Added 'axis_names' array to driver_table.
This commit is contained in:
Ron Sluiter
2000-07-17 18:34:02 +00:00
parent 7e0b3f0cfa
commit 5a9381c060
1 changed files with 19 additions and 13 deletions
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motorApp/MotorSrc/motordrvCom.h
+19 -13
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@@ -4,9 +4,9 @@ FILENAME... motordrvCom.h
USAGE... This file contains definitions and structures that
are common to all motor record driver support modules.
Version: $Revision: 1.3 $
Version: $Revision: 1.4 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2000-06-14 15:09:40 $
Last Modified: $Date: 2000-07-17 18:34:02 $
*/
/*
@@ -64,17 +64,23 @@ typedef enum CommStatus CommStatus;
#endif
/*
Valid command types for the driver. The order is of importance; 0 is
Valid message types for the driver. The order is of importance; 0 is
lowest importance. Device support will choose the greatest one to
use as the driver transaction type.
*/
#define UNDEFINED (unsigned char)0 /* garbage type */
#define IMMEDIATE (unsigned char)1 /* 'i' an execute immediate, no reply */
#define MOVE_TERM (unsigned char)2 /* 't' terminate a previous active motion */
#define MOTION (unsigned char)3 /* 'm' will produce motion updates */
#define VELOCITY (unsigned char)4 /* 'v' make motion updates till MOVE_TERM */
#define INFO (unsigned char)5 /* 'f' get curr motor/encoder pos and stat */
enum msg_types {
UNDEFINED, /* garbage type */
IMMEDIATE, /* execute immediate, no reply */
MOVE_TERM, /* terminate a previous active motion */
MOTION, /* move */
VELOCITY, /* make motion updates till MOVE_TERM */
INFO /* get curr motor/encoder pos and stat */
};
#ifndef __cplusplus
typedef enum msg_types msg_types;
#endif
/* Macros used to set/clear bits in any_motor_in_motion variable. */
#define SET_MM_ON(v,a) v|=(1<<a)
@@ -93,7 +99,7 @@ struct mess_node
callbackRequest(CALLBACK *) use pointer to mess_node. */
int signal;
int card;
unsigned char type;
msg_types type;
char message[MAX_MSG_SIZE];
long position;
long encoder_position;
@@ -110,7 +116,6 @@ struct mess_node
typedef struct mess_card_query
{
char *card_name;
char *axis_names;
int total_axis;
} MOTOR_CARD_QUERY;
@@ -195,7 +200,7 @@ struct controller /* Controller board information. */
struct driver_table
{
int (*init) (void);
int (*send) (struct mess_node *, struct driver_table *, char *);
int (*send) (struct mess_node *, struct driver_table *);
int (*free) (struct mess_node *, struct driver_table *);
int (*get_card_info) (int, MOTOR_CARD_QUERY *, struct driver_table *);
int (*get_axis_info) (int, int, MOTOR_AXIS_QUERY *, struct driver_table *);
@@ -213,11 +218,12 @@ struct driver_table
void (*query_done) (int, int, struct mess_node *);
void (*strtstat) (int); /* Optional; start status function or NULL. */
const BOOLEAN *const init_indicator; /* Driver initialized indicator. */
char *axis_names; /* Axis name array or NULL. */
};
/* Function prototypes. */
extern int motor_send(struct mess_node *, struct driver_table *, char *);
extern int motor_send(struct mess_node *, struct driver_table *);
extern int motor_free(struct mess_node *, struct driver_table *);
extern int motor_card_info(int, MOTOR_CARD_QUERY *, struct driver_table *);
extern int motor_axis_info(int, int, MOTOR_AXIS_QUERY *, struct driver_table *);