lin-epics-modules/motorBase
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Reformatted MM4000Poler(); no code changes.

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This commit is contained in:
Ron Sluiter
2009-02-18 20:00:36 +00:00
parent a2843f4b45
commit 6be5c641b0
1 changed files with 48 additions and 33 deletions
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motorApp/NewportSrc/drvMM4000Asyn.c
+48 -33
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@@ -2,9 +2,9 @@
FILENAME... drvMM4000Asyn.cc
USAGE... Motor record asyn driver level support for Newport MM4000.
Version: $Revision: 1.7 $
Version: $Revision: 1.8 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2009-02-05 15:59:25 $
Last Modified: $Date: 2009-02-18 20:00:36 $
*/
/*
@@ -511,7 +511,7 @@ static int motorAxisforceCallback(AXIS_HDL pAxis)
return (MOTOR_AXIS_OK);
}
static void MM4000Poller(MM4000Controller *pController)
{
/* This is the task that polls the MM4000 */
@@ -532,30 +532,41 @@ static void MM4000Poller(MM4000Controller *pController)
timeout = pController->idlePollPeriod;
epicsEventSignal(pController->pollEventId); /* Force on poll at startup */
while(1) {
if (timeout != 0.) status = epicsEventWaitWithTimeout(pController->pollEventId, timeout);
else status = epicsEventWait(pController->pollEventId);
if (status == epicsEventWaitOK) {
while (1)
{
if (timeout != 0.)
status = epicsEventWaitWithTimeout(pController->pollEventId, timeout);
else
status = epicsEventWait(pController->pollEventId);
if (status == epicsEventWaitOK)
{
/* We got an event, rather than a timeout. This is because other software
* knows that an axis should have changed state (started moving, etc.).
* Force a minimum number of fast polls, because the controller status
* might not have changed the first few polls
*/
forcedFastPolls = 10;
}
}
anyMoving = 0;
comStatus = sendAndReceive(pController, "MS;", statusAllString, sizeof(statusAllString));
if (comStatus == 0) comStatus = sendAndReceive(pController, "TP;",
positionAllString, sizeof(positionAllString));
for (i=0; i<pController->numAxes; i++) {
if (comStatus == 0)
comStatus = sendAndReceive(pController, "TP;", positionAllString, sizeof(positionAllString));
for (i=0; i<pController->numAxes; i++)
{
pAxis = &pController->pAxis[i];
if (!pAxis->mutexId) break;
if (!pAxis->mutexId)
break;
epicsMutexLock(pAxis->mutexId);
if (comStatus != 0) {
if (comStatus != 0)
{
PRINT(pAxis->logParam, ERROR, "MM4000Poller: error reading status=%d\n", comStatus);
motorParam->setInteger(pAxis->params, motorAxisCommError, 1);
} else {
}
else
{
motorParam->setInteger(pAxis->params, motorAxisCommError, 0);
/*
* Parse the status string
@@ -564,28 +575,31 @@ static void MM4000Poller(MM4000Controller *pController)
*/
offset = pAxis->axis*5 + 3; /* Offset in status string */
pAxis->axisStatus = statusAllString[offset];
if (pAxis->axisStatus & MM4000_MOVING) {
if (pAxis->axisStatus & MM4000_MOVING)
{
axisDone = 0;
anyMoving = 1;
} else {
}
else
axisDone = 1;
}
motorParam->setInteger(pAxis->params, motorAxisDone, axisDone);
if (pAxis->axisStatus & MM4000_HOME) {
if (pAxis->axisStatus & MM4000_HOME)
motorParam->setInteger(pAxis->params, motorAxisHomeSignal, 1);
} else {
else
motorParam->setInteger(pAxis->params, motorAxisHomeSignal, 0);
}
if (pAxis->axisStatus & MM4000_HIGH_LIMIT) {
if (pAxis->axisStatus & MM4000_HIGH_LIMIT)
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, 1);
} else {
else
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, 0);
}
if (pAxis->axisStatus & MM4000_LOW_LIMIT) {
if (pAxis->axisStatus & MM4000_LOW_LIMIT)
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, 1);
} else {
else
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, 0);
}
/*
* Parse motor position
* Position string format: 1TP5.012,2TP1.123,3TP-100.567,...
@@ -595,7 +609,7 @@ static void MM4000Poller(MM4000Controller *pController)
strcpy(buff, positionAllString);
tokSave = NULL;
p = epicsStrtok_r(buff, ",", &tokSave);
for (j=0; j < pAxis->axis; j++)
for (j=0; j < pAxis->axis; j++)
p = epicsStrtok_r(NULL, ",", &tokSave);
pAxis->currentPosition = atof(p+3);
motorParam->setDouble(pAxis->params, motorAxisPosition, (pAxis->currentPosition/pAxis->stepSize));
@@ -611,14 +625,15 @@ static void MM4000Poller(MM4000Controller *pController)
epicsMutexUnlock(pAxis->mutexId);
} /* Next axis */
if (forcedFastPolls > 0) {
if (forcedFastPolls > 0)
{
timeout = pController->movingPollPeriod;
forcedFastPolls--;
} else if (anyMoving) {
timeout = pController->movingPollPeriod;
} else {
timeout = pController->idlePollPeriod;
}
else if (anyMoving)
timeout = pController->movingPollPeriod;
else
timeout = pController->idlePollPeriod;
} /* End while */
}