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- User must set MRES to drive resolution.

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- Removed STATIC.
This commit is contained in:
Ron Sluiter
2003-11-04 15:49:01 +00:00
parent 4911c6ee22
commit 82a56a4ee0
1 changed files with 17 additions and 37 deletions
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motorApp/NewportSrc/devESP300.cc
+17 -37
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@@ -2,14 +2,14 @@
FILENAME... devESP300.cc
USAGE... Motor record device level support for Newport ESP300.
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-05-23 16:01:51 $
Last Modified: $Date: 2003-11-04 15:49:01 $
*/
/*
* Original Author: Mark Rivers
* Date: 10/16/97
* Original Author: Ron Sluiter
* Date: 02/19/03
* Current Author: Ron Sluiter
*
* Experimental Physics and Industrial Control System (EPICS)
@@ -35,10 +35,8 @@ Last Modified: $Date: 2003-05-23 16:01:51 $
*
* Modification Log:
* -----------------
* .00 10-16-97 mlr initialized from devOms58
* .01 07-19-99 rls initialized from drvMM4000
* .02 04-21-01 rls Added jog velocity motor command.
* .03 05-23-03 rls Converted to R3.14.x.
* .01 05-23-03 rls Converted to R3.14.x.
* .02 10-28-03 rls User must set MRES to drive resolution.
*/
#include <string.h>
@@ -49,18 +47,16 @@ Last Modified: $Date: 2003-05-23 16:01:51 $
#include "drvMMCom.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table ESP300_access;
/* ----------------Create the dsets for devESP300----------------- */
/* static long report(); */
STATIC struct driver_table *drvtabptr;
STATIC long ESP300_init(void *);
STATIC long ESP300_init_record(void *);
STATIC long ESP300_start_trans(struct motorRecord *);
STATIC RTN_STATUS ESP300_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS ESP300_end_trans(struct motorRecord *);
static struct driver_table *drvtabptr;
static long ESP300_init(void *);
static long ESP300_init_record(void *);
static long ESP300_start_trans(struct motorRecord *);
static RTN_STATUS ESP300_build_trans(motor_cmnd, double *, struct motorRecord *);
static RTN_STATUS ESP300_end_trans(struct motorRecord *);
struct motor_dset devESP300 =
{
@@ -110,7 +106,7 @@ static struct board_stat **ESP300_cards;
/* initialize device support for ESP300 stepper motor */
STATIC long ESP300_init(void *arg)
static long ESP300_init(void *arg)
{
long rtnval;
int after = (int) arg;
@@ -127,39 +123,26 @@ STATIC long ESP300_init(void *arg)
/* initialize a record instance */
STATIC long ESP300_init_record(void *arg)
static long ESP300_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
long rtnval;
rtnval = motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, ESP300_cards);
/* Initialize "drive_resolution" to mres. */
{
int card = mr->out.value.vmeio.card;
int axis = mr->out.value.vmeio.signal;
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct controller *brdptr = (*trans->tabptr->card_array)[card];
if (brdptr != NULL)
{
struct MMcontroller *cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
cntrl->drive_resolution[axis] = mr->mres;
}
}
return(rtnval);
}
/* start building a transaction */
STATIC long ESP300_start_trans(struct motorRecord *mr)
static long ESP300_start_trans(struct motorRecord *mr)
{
return(motor_start_trans_com(mr, ESP300_cards));
}
/* end building a transaction */
STATIC RTN_STATUS ESP300_end_trans(struct motorRecord *mr)
static RTN_STATUS ESP300_end_trans(struct motorRecord *mr)
{
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct mess_node *motor_call;
@@ -178,7 +161,7 @@ STATIC RTN_STATUS ESP300_end_trans(struct motorRecord *mr)
/* add a part to the transaction */
STATIC RTN_STATUS ESP300_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
static RTN_STATUS ESP300_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
{
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct mess_node *motor_call;
@@ -268,9 +251,6 @@ STATIC RTN_STATUS ESP300_build_trans(motor_cmnd command, double *parms, struct m
*/
break;
case SET_ENC_RATIO:
/* MRES and drive_resolution must be equal. */
cntrl->drive_resolution[axis - 1] = mr->mres;
break;
case GET_INFO:
/* These commands are not actually done by sending a message, but
rather they will indirectly cause the driver to read the status