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- Modified Debug for SunPro compiler.

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- 32 axes/board support.
This commit is contained in:
Ron Sluiter
2004-09-21 15:15:38 +00:00
parent 22c75d204d
commit 6e161e48da
1 changed files with 31 additions and 28 deletions
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motorApp/NewportSrc/drvXPSC8.cc
+31 -28
View File
@@ -24,19 +24,21 @@
#define STATIC static
/*----------------debugging-----------------*/
#ifdef NODEBUG
#define Debug(l, f, args...);
#else
/*#define Debug(L,FMT,V...) { if(L <= drvXPSC8Debug) \
#ifdef __GNUG__
#ifdef DEBUG
volatile int drvXPSC8Debug = 0;
#define Debug(L, FMT, V...) { if(L <= drvXPSC8Debug) \
{ printf("%s(%d):",__FILE__,__LINE__); \
printf(FMT,##V); } }*/
int drvXPSC8Debug = 0;
epicsExportAddress(int, drvXPSC8Debug);
/* To make the var available to the shell */
#define Debug(l, f, args...) { if(l<=drvXPSC8Debug) printf(f,## args); }
printf(FMT,##V); } }
epicsExportAddress(int, drvXPSC8Debug);
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
/* --- Local data. --- */
int XPSC8_num_cards = 0;
@@ -47,7 +49,7 @@ int XPSC8_num_cards = 0;
/*----------------functions-----------------*/
STATIC int recv_mess(int, char *, int);
STATIC RTN_STATUS send_mess(int card, const char *com, char c);
STATIC RTN_STATUS send_mess(int, const char *, char *);
STATIC void start_status(int card);
/*STATIC void XPSC8Status(int card);*/
STATIC int set_status(int card, int signal);
@@ -79,7 +81,8 @@ struct driver_table XPSC8_access =
set_status,
query_done,
start_status,
&initialized
&initialized,
NULL
};
@@ -194,15 +197,15 @@ STATIC void readXPSC8Status(int card)
nodeptr = motor_info->motor_motion;
statusflags.All = motor_info->status.All;
Debug(9, "XPSC8:readXPSC8Status RA_DONE=%d, RA_MOVING=%d, "
"RA_PROBLEM=%d\n",
statusflags.Bits.RA_DONE, statusflags.Bits.RA_MOVING,
Debug(9, "XPSC8:readXPSC8Status RA_DONE=%d, RA_MOVING=%d, "\
"RA_PROBLEM=%d\n",\
statusflags.Bits.RA_DONE, statusflags.Bits.RA_MOVING,\
statusflags.Bits.RA_PROBLEM);
control = (struct XPSC8controller *) motor_state[card]->DevicePrivate;
cntrl = (struct XPSC8axis *)&control->axis[i];
Debug(2, "XPSC8:readXPSC8Status card=%d axis=%d sock=%d gp=%s\n",card,i,
Debug(2, "XPSC8:readXPSC8Status card=%d axis=%d sock=%d gp=%s\n",card,i,\
cntrl->socket,cntrl->groupname);
/* Where I have used "&" the func requires an pointer */
@@ -287,7 +290,7 @@ STATIC void readXPSC8Status(int card)
statuserror =1;
}
Debug(11, "readXPSC8Status, socket=%d, groupname=%s, minlim=%f\n",
Debug(11, "readXPSC8Status, socket=%d, groupname=%s, minlim=%f\n",\
cntrl->socket,cntrl->groupname,cntrl->minlimit);
if (status == 1)
@@ -336,10 +339,10 @@ STATIC int set_status(int card, int signal)
positionererror = cntrl->positionererror;
pos = cntrl->currentposition[1];
groupstatus = cntrl->groupstatus;
Debug(2, "XPSC8:set_status entry: positionererror=%d, pos=%f,"
" resolution=%f\n",
Debug(2, "XPSC8:set_status entry: positionererror=%d, pos=%f,"\
" resolution=%f\n",\
positionererror, pos, resolution);
Debug(11, "XPSC8:set_status entry: pos0=%f, pos1=%f\n",
Debug(11, "XPSC8:set_status entry: pos0=%f, pos1=%f\n",\
cntrl->currentposition[0], cntrl->currentposition[1]);
if (cntrl->velocity >= 0)
@@ -446,7 +449,7 @@ STATIC int set_status(int card, int signal)
/* send a message to the XPS board */
/* send_mess() */
/*****************************************************/
STATIC RTN_STATUS send_mess(int card, char const *com, char inchar)
STATIC RTN_STATUS send_mess(int card, char const *com, char *name)
{
/* This is a no-op for the XPS, but must be present */
return (OK);
@@ -523,7 +526,7 @@ RTN_STATUS XPSC8Config(int card, /* Controller number */
pollsocket = 0;
Debug(1, "XPSC8Config: IP=%s, Port=%d, Card=%d, totalaxes=%d\n",
Debug(1, "XPSC8Config: IP=%s, Port=%d, Card=%d, totalaxes=%d\n",\
ipchar, port, card, totalaxes);
if (totalaxes < 0 || totalaxes > XPSC8_NUM_CHANNELS) {return (ERROR);}
@@ -561,8 +564,8 @@ RTN_STATUS XPSC8Config(int card, /* Controller number */
cntrl->ip = epicsStrDup(ip);
Debug(1, "XPSC8Config: Socket=%d, PollSock=%d, ip=%s, port=%d,"
" axis=%d controller=%d\n",
Debug(1, "XPSC8Config: Socket=%d, PollSock=%d, ip=%s, port=%d,"\
" axis=%d controller=%d\n",\
cntrl->socket,cntrl->pollsocket,ip,port,axis,card);
}
Debug(11, "XPSC8Config: Above OjectsListGet\n");
@@ -590,7 +593,7 @@ RTN_STATUS XPSC8NameConfig(int card, /*specify which controller 0-up*/
struct XPSC8controller *control;
struct XPSC8axis *cntrl;
Debug(1, "XPSC8NameConfig: card=%d axis=%d, group=%s, positioner=%s\n",
Debug(1, "XPSC8NameConfig: card=%d axis=%d, group=%s, positioner=%s\n",\
card, axis, gpname, posname);
control = (struct XPSC8controller *) motor_state[card]->DevicePrivate;
@@ -632,7 +635,7 @@ STATIC int motor_init()
Debug(5, "XPSC8:motor_init: Card init loop card_index=%d\n",card_index);
brdptr = motor_state[card_index];
total_cards = card_index + 1;
Debug(5, "XPSC8:motor_init: Above control def card_index=%d\n",
Debug(5, "XPSC8:motor_init: Above control def card_index=%d\n",\
card_index);
control = (struct XPSC8controller *) brdptr->DevicePrivate;
@@ -646,7 +649,7 @@ STATIC int motor_init()
status = GroupStatusGet(cntrl->socket,cntrl->groupname,
&cntrl->groupstatus);
if (status !=0) errind = true;
Debug(5, "XPSC8:motor_init: card_index=%d, errind=%d\n",
Debug(5, "XPSC8:motor_init: card_index=%d, errind=%d\n",\
card_index, errind);
if (errind == false) {
@@ -673,7 +676,7 @@ STATIC int motor_init()
motor_info->encoder_position = 0;
motor_info->position = 0;
/* Read status of each motor */
Debug(5, " XPSC8:motor_init: calling set_status for motor %d\n",
Debug(5, " XPSC8:motor_init: calling set_status for motor %d\n",\
motor_index);
set_status(card_index, motor_index);
}