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Support for 32axes/controller.

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This commit is contained in:
Ron Sluiter
2004-09-21 14:04:57 +00:00
parent c9d97c5c5f
commit 709ff4dadb
2 changed files with 30 additions and 26 deletions
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motorApp/OmsSrc/drvOms.cc
+13 -11
View File
@@ -2,9 +2,9 @@
FILENAME... drvOms.cc
USAGE... Driver level support for OMS models VME8, VME44 and VS4.
Version: $Revision: 1.18 $
Version: $Revision: 1.19 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-07-16 19:42:37 $
Last Modified: $Date: 2004-09-21 14:00:35 $
*/
/*
@@ -62,6 +62,7 @@ Last Modified: $Date: 2004-07-16 19:42:37 $
* http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R5-2/Problems.html
* .07 02-03-04 rls - Eliminate erroneous "Motor motion timeout ERROR".
* .08 03-02-04 rls - Reduce omsGet() timeout from 1sec. to 250msec.
* .09 09-20-04 rls - support for 32axes/controller.
*/
/*========================stepper motor driver ========================
@@ -134,18 +135,18 @@ static char *oms_addrs = 0x0;
static volatile unsigned omsInterruptVector = 0;
static volatile epicsUInt8 omsInterruptLevel = OMS_INT_LEVEL;
static volatile int motionTO = 10;
static char oms_axis[] = {'X', 'Y', 'Z', 'T', 'U', 'V', 'R', 'S'};
static char *oms_axis[] = {"X", "Y", "Z", "T", "U", "V", "R", "S"};
/*----------------functions-----------------*/
/* Common local function declarations. */
static long report(int level);
static long report(int);
static long init();
static void query_done(int, int, struct mess_node *);
static int set_status(int card, int signal);
static RTN_STATUS send_mess(int card, char const *com, char c);
static int set_status(int, int);
static RTN_STATUS send_mess(int, char const *, char *);
static int recv_mess(int, char *, int);
static void motorIsr(int card);
static void motorIsr(int);
static int motor_init();
static void oms_reset();
@@ -420,7 +421,7 @@ errorexit: errMessage(-1, "Invalid device directive");
/* send a message to the OMS 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)
{
char outbuf[MAX_MSG_SIZE];
RTN_STATUS return_code;
@@ -446,12 +447,13 @@ static RTN_STATUS send_mess(int card, char const *com, char inchar)
/* Flush receive buffer */
recv_mess(card, (char *) NULL, -1);
if (inchar == NULL)
if (name == NULL)
strcpy(outbuf, com);
else
{
strcpy(outbuf, "A? ");
outbuf[1] = inchar;
strcpy(outbuf, "A");
strcat(outbuf, name);
strcat(outbuf, " ");
strcat(outbuf, com);
}
strcat(outbuf, "\n"); /* Add the command line terminator. */
motorApp/OmsSrc/drvOms58.cc
+17 -15
View File
@@ -2,9 +2,9 @@
FILENAME... drvOms58.cc
USAGE... Motor record driver level support for OMS model VME58.
Version: $Revision: 1.11 $
Version: $Revision: 1.12 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-07-16 19:51:24 $
Last Modified: $Date: 2004-09-21 14:04:57 $
*/
/*
@@ -81,6 +81,7 @@ Last Modified: $Date: 2004-07-16 19:51:24 $
* http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R5-2/Problems.html
* .26 02-03-04 rls - Eliminate erroneous "Motor motion timeout ERROR".
* .27 07-16-04 rls - removed unused <driver>Setup() argument.
* .28 09-20-04 rls - support for 32axes/controller.
*/
#include <vxLib.h>
@@ -115,8 +116,8 @@ extern "C" {
#define PROBE_SUCCESS(STATUS) ((STATUS)==S_dev_addressOverlap)
/* jps: INFO messages - add RV and move QA to top */
#define ALL_INFO "QA EA" /* jps: add RV */
#define AXIS_INFO "QA" /* jps: add RV */
#define ALL_INFO "QA EA"
#define AXIS_INFO "QA"
#define ENCODER_QUERY "EA ID"
#define AXIS_CLEAR "CA" /* Clear done of addressed axis */
#define DONE_QUERY "RA" /* ?? Is this needed?? */
@@ -145,16 +146,16 @@ static volatile unsigned omsInterruptVector = 0;
static volatile epicsUInt8 omsInterruptLevel = OMS_INT_LEVEL;
static volatile int max_io_tries = MAX_COUNT;
static volatile int motionTO = 10;
static char oms58_axis[] = {'X', 'Y', 'Z', 'T', 'U', 'V', 'R', 'S'};
static char *oms58_axis[] = {"X", "Y", "Z", "T", "U", "V", "R", "S"};
/*----------------functions-----------------*/
/* Common local function declarations. */
static long report(int level);
static long report(int);
static long init();
static void query_done(int, int, struct mess_node *);
static int set_status(int card, int signal);
static RTN_STATUS send_mess(int card, char const *com, char c);
static int set_status(int, int);
static RTN_STATUS send_mess(int, char const *, char *);
static int recv_mess(int, char *, int);
static void motorIsr(int card);
static int motor_init();
@@ -216,8 +217,8 @@ static long report(int level)
printf(" Oms Vme58 motor card #%d not found.\n", card);
else
printf(" Oms Vme58 motor card #%d @ 0x%X, id: %s \n", card,
(uint_t) motor_state[card]->localaddr,
motor_state[card]->ident);
(uint_t) brdptr->localaddr,
brdptr->ident);
}
}
return (0);
@@ -367,7 +368,7 @@ static int set_status(int card, int signal)
pmotor = (struct vmex_motor *) motor_state[card]->localaddr;
status.All = motor_info->status.All;
if (motor_state[card]->motor_info[signal].encoder_present == YES)
if (motor_info->encoder_present == YES)
{
/* get 4 peices of info from axis */
send_mess(card, ALL_INFO, oms58_axis[signal]);
@@ -583,7 +584,7 @@ errorexit: errMessage(-1, "Invalid device directive");
/* send a message to the OMS 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)
{
volatile struct vmex_motor *pmotor;
epicsInt16 putIndex;
@@ -623,12 +624,13 @@ static RTN_STATUS send_mess(int card, char const *com, char inchar)
}
if (inchar == NULL)
if (name == NULL)
strcpy(outbuf, com);
else
{
strcpy(outbuf, "A? ");
outbuf[1] = inchar;
strcpy(outbuf, "A");
strcat(outbuf, name);
strcat(outbuf, " ");
strcat(outbuf, com);
}
strcat(outbuf, "\n"); /* Add the command line terminator. */