forked from epics_driver_modules/motorBase
- Simplified command line termination; no need to pad command strings.
- Added local axis name array. - Added axis name array entry to driver_table. - send_mess() processes axis name if passed in function argument.
This commit is contained in:
Ron Sluiter
+27
-24
@@ -2,9 +2,9 @@
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FILENAME... drvOms.c
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USAGE... Driver level support for OMS models VME8 and VME44.
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Version: $Revision: 1.3 $
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Version: $Revision: 1.4 $
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Modified By: $Author: sluiter $
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Last Modified: $Date: 2000-06-14 16:16:13 $
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Last Modified: $Date: 2000-07-14 21:46:43 $
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*/
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/*
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@@ -89,11 +89,10 @@ extern "C" {
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#define CMD_CLEAR '\030' /* Control-X, clears command errors only */
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#define ALL_INFO "A? QA RP RE EA\n" /* jps: move QA to top. */
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#define AXIS_INFO "A? QA RP\n" /* jps: move QA to top. */
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#define ENCODER_QUERY "A? EA\n"
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#define DONE_QUERY "A? RA\n"
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#define ALL_INFO "QA RP RE EA" /* jps: move QA to top. */
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#define AXIS_INFO "QA RP" /* jps: move QA to top. */
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#define ENCODER_QUERY "EA"
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#define DONE_QUERY "RA"
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/*----------------debugging-----------------*/
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#ifdef DEBUG
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@@ -121,6 +120,7 @@ STATIC volatile unsigned omsInterruptVector = 0;
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STATIC volatile uint8_t omsInterruptLevel = OMS_INT_LEVEL;
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STATIC volatile int max_io_tries = MAX_COUNT;
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STATIC volatile int motionTO = 10;
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STATIC char oms_axis[] = {'X', 'Y', 'Z', 'T', 'U', 'V', 'R', 'S'};
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/*----------------functions-----------------*/
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@@ -163,7 +163,8 @@ struct driver_table oms_access =
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set_status,
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query_done,
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NULL,
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&initialized
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&initialized,
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oms_axis
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};
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struct
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@@ -207,11 +208,11 @@ STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
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{
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char buffer[40];
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send_mess(card, DONE_QUERY, oms_trans_axis[axis]);
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send_mess(card, DONE_QUERY, oms_axis[axis]);
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recv_mess(card, buffer, 1);
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if (nodeptr->status & RA_PROBLEM)
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send_mess(card, AXIS_STOP, oms_trans_axis[axis]);
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send_mess(card, AXIS_STOP, oms_axis[axis]);
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}
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@@ -221,7 +222,7 @@ STATIC int set_status(int card, int signal)
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char *p, *tok_save;
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struct axis_status *ax_stat;
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struct encoder_status *en_stat;
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char q_buf[50], outbuf[50];
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char q_buf[50];
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int i, pos;
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int rtn_state;
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@@ -230,12 +231,12 @@ STATIC int set_status(int card, int signal)
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if (motor_state[card]->motor_info[signal].encoder_present == YES)
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{
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/* get 4 peices of info from axis */
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send_mess(card, ALL_INFO, oms_trans_axis[signal]);
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send_mess(card, ALL_INFO, oms_axis[signal]);
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recv_mess(card, q_buf, 4);
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}
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else
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{
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send_mess(card, AXIS_INFO, oms_trans_axis[signal]);
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send_mess(card, AXIS_INFO, oms_axis[signal]);
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recv_mess(card, q_buf, 2);
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}
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@@ -281,7 +282,7 @@ STATIC int set_status(int card, int signal)
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if (motor_info->no_motion_count > motionTO)
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{
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motor_info->status |= RA_PROBLEM;
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send_mess(card, AXIS_STOP, oms_trans_axis[signal]);
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send_mess(card, AXIS_STOP, oms_axis[signal]);
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motor_info->no_motion_count = 0;
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errlogSevPrintf(errlogMinor, "Motor motion timeout ERROR on card: %d, signal: %d\n",
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card, signal);
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@@ -350,10 +351,7 @@ STATIC int set_status(int card, int signal)
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(motor_info->motor_motion != 0) &&
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(motor_info->motor_motion->postmsgptr != 0))
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{
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strcpy(outbuf, "A? ");
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strcat(outbuf, motor_info->motor_motion->postmsgptr);
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strcat(outbuf, "\n");
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send_mess(card, outbuf, oms_trans_axis[signal]);
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send_mess(card, motor_info->motor_motion->postmsgptr, oms_axis[signal]);
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motor_info->motor_motion->postmsgptr = NULL;
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}
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@@ -391,10 +389,15 @@ STATIC int send_mess(int card, char const *com, char inchar)
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/* Flush receive buffer */
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recv_mess(card, (char *) NULL, -1);
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strcpy(outbuf, com);
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if (inchar != (char) NULL)
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outbuf[1] = inchar; /* put in axis */
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if (inchar == NULL)
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strcpy(outbuf, com);
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else
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{
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strcpy(outbuf, "A? ");
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outbuf[1] = inchar;
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strcat(outbuf, com);
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}
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strcat(outbuf, "\n"); /* Add the command line terminator. */
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Debug(9, "send_mess: ready to send message.\n");
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@@ -1003,7 +1006,7 @@ STATIC int motor_init()
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pmotorState->irqdata->irqEnable = FALSE;
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pmotor->control = 0;
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send_mess(card_index, "EF\n", (char) NULL);
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send_mess(card_index, "EF", (char) NULL);
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send_mess(card_index, ERROR_CLEAR, (char) NULL);
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send_mess(card_index, STOP_ALL, (char) NULL);
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@@ -1038,7 +1041,7 @@ STATIC int motor_init()
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for (total_encoders = 0, motor_index = 0; motor_index < total_axis; motor_index++)
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{
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send_mess(card_index, ENCODER_QUERY, oms_trans_axis[motor_index]);
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send_mess(card_index, ENCODER_QUERY, oms_axis[motor_index]);
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if (recv_mess(card_index, encoder_pos, 1) == -1)
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{
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/* Command error - no encoder */
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