forked from epics_driver_modules/motorBase
- asyn R4.0 support.
- make debug variables always available. - MS Visual C compatibility; make all epicsExportAddress extern "C" linkage.
This commit is contained in:
Ron Sluiter
+38
-32
@@ -3,9 +3,9 @@ FILENAME... drvPIC844.cc
|
||||
USAGE... Motor record driver level support for Physik Instrumente (PI)
|
||||
GmbH & Co. C-844 motor controller.
|
||||
|
||||
Version: $Revision: 1.8 $
|
||||
Version: $Revision: 1.9 $
|
||||
Modified By: $Author: sluiter $
|
||||
Last Modified: $Date: 2004-09-21 14:41:41 $
|
||||
Last Modified: $Date: 2004-12-20 21:35:37 $
|
||||
*/
|
||||
|
||||
/*
|
||||
@@ -41,6 +41,10 @@ Last Modified: $Date: 2004-09-21 14:41:41 $
|
||||
* .04 09/09/04 rls - Retry on initial comm. (PIC844 comm. locks up when IOC
|
||||
* is power cycled).
|
||||
* .05 09/21/04 rls - support for 32axes/controller.
|
||||
* .06 12/16/04 rls - asyn R4.0 support.
|
||||
* - make debug variables always available.
|
||||
* - MS Visual C compatibility; make all epicsExportAddress
|
||||
* extern "C" linkage.
|
||||
*/
|
||||
|
||||
/*
|
||||
@@ -68,7 +72,6 @@ DESIGN LIMITATIONS...
|
||||
/*----------------debugging-----------------*/
|
||||
#ifdef __GNUG__
|
||||
#ifdef DEBUG
|
||||
volatile int drvPIC844debug = 0;
|
||||
#define Debug(l, f, args...) { if(l<=drvPIC844debug) printf(f,## args); }
|
||||
#else
|
||||
#define Debug(l, f, args...)
|
||||
@@ -76,6 +79,8 @@ DESIGN LIMITATIONS...
|
||||
#else
|
||||
#define Debug()
|
||||
#endif
|
||||
volatile int drvPIC844debug = 0;
|
||||
extern "C" {epicsExportAddress(int, drvPIC844debug);}
|
||||
|
||||
/* --- Local data. --- */
|
||||
int PIC844_num_cards = 0;
|
||||
@@ -126,7 +131,7 @@ struct
|
||||
long (*init) (void);
|
||||
} drvPIC844 = {2, report, init};
|
||||
|
||||
epicsExportAddress(drvet, drvPIC844);
|
||||
extern "C" {epicsExportAddress(drvet, drvPIC844);}
|
||||
|
||||
static struct thread_args targs = {SCAN_RATE, &PIC844_access};
|
||||
|
||||
@@ -396,16 +401,18 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
|
||||
{
|
||||
char local_buff[MAX_MSG_SIZE];
|
||||
struct PIC844controller *cntrl;
|
||||
int size;
|
||||
int comsize, namesize;
|
||||
int nwrite;
|
||||
|
||||
size = strlen(com);
|
||||
|
||||
if (size > MAX_MSG_SIZE)
|
||||
comsize = (com == NULL) ? 0 : strlen(com);
|
||||
namesize = (name == NULL) ? 0 : strlen(name);
|
||||
|
||||
if ((comsize + namesize) > MAX_MSG_SIZE)
|
||||
{
|
||||
errlogMessage("drvPIC844.cc:send_mess(); message size violation.\n");
|
||||
return(ERROR);
|
||||
}
|
||||
else if (size == 0) /* Normal exit on empty input message. */
|
||||
else if (comsize == 0) /* Normal exit on empty input message. */
|
||||
return(OK);
|
||||
|
||||
if (!motor_state[card])
|
||||
@@ -423,15 +430,14 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
|
||||
strcat(local_buff, ";"); /* put in comman seperator. */
|
||||
}
|
||||
|
||||
/* Make a local copy of the string and add the command line terminator. */
|
||||
/* Make a local copy of the string. */
|
||||
strcat(local_buff, com);
|
||||
strcat(local_buff, "\n");
|
||||
|
||||
Debug(2, "send_mess(): message = %s\n", local_buff);
|
||||
|
||||
cntrl = (struct PIC844controller *) motor_state[card]->DevicePrivate;
|
||||
pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
|
||||
COMM_TIMEOUT);
|
||||
COMM_TIMEOUT, &nwrite);
|
||||
|
||||
return(OK);
|
||||
}
|
||||
@@ -444,9 +450,8 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
|
||||
static int recv_mess(int card, char *com, int flag)
|
||||
{
|
||||
struct PIC844controller *cntrl;
|
||||
int flush = 0;
|
||||
int timeout;
|
||||
int len=0;
|
||||
int nread = 0;
|
||||
asynStatus status = asynError;
|
||||
int eomReason;
|
||||
|
||||
/* Check that card exists */
|
||||
@@ -454,25 +459,21 @@ static int recv_mess(int card, char *com, int flag)
|
||||
return(ERROR);
|
||||
|
||||
cntrl = (struct PIC844controller *) motor_state[card]->DevicePrivate;
|
||||
|
||||
|
||||
if (flag == FLUSH)
|
||||
timeout = 0;
|
||||
pasynOctetSyncIO->flush(cntrl->pasynUser);
|
||||
else
|
||||
timeout = COMM_TIMEOUT;
|
||||
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
|
||||
COMM_TIMEOUT, &nread, &eomReason);
|
||||
|
||||
len = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE, (char *) "\n",
|
||||
1, flush, timeout, &eomReason);
|
||||
|
||||
if (len == 0)
|
||||
com[0] = '\0';
|
||||
else
|
||||
if ((status != asynSuccess) || (nread <= 0))
|
||||
{
|
||||
com[len - 1] = '\0';
|
||||
len -= 1;
|
||||
com[0] = '\0';
|
||||
nread = 0;
|
||||
}
|
||||
|
||||
Debug(2, "recv_mess(): message = \"%s\"\n", com);
|
||||
return(len);
|
||||
return(nread);
|
||||
}
|
||||
|
||||
|
||||
@@ -552,6 +553,8 @@ static int motor_init()
|
||||
int total_axis;
|
||||
int status;
|
||||
asynStatus success_rtn;
|
||||
static const char output_terminator[] = "\n";
|
||||
static const char input_terminator[] = "\n";
|
||||
|
||||
initialized = true; /* Indicate that driver is initialized. */
|
||||
|
||||
@@ -571,18 +574,21 @@ static int motor_init()
|
||||
cntrl = (struct PIC844controller *) brdptr->DevicePrivate;
|
||||
|
||||
/* Initialize communications channel */
|
||||
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port,
|
||||
cntrl->asyn_address, &cntrl->pasynUser);
|
||||
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0,
|
||||
&cntrl->pasynUser, NULL);
|
||||
|
||||
if (success_rtn == asynSuccess)
|
||||
{
|
||||
int retry = 0;
|
||||
|
||||
pasynOctetSyncIO->setOutputEos(cntrl->pasynUser, output_terminator,
|
||||
strlen(output_terminator));
|
||||
pasynOctetSyncIO->setInputEos(cntrl->pasynUser, input_terminator,
|
||||
strlen(input_terminator));
|
||||
|
||||
/* Send a message to the board, see if it exists */
|
||||
/* flush any junk at input port - should not be any data available */
|
||||
do
|
||||
recv_mess(card_index, buff, FLUSH);
|
||||
while (strlen(buff) != 0);
|
||||
pasynOctetSyncIO->flush(cntrl->pasynUser);
|
||||
|
||||
do
|
||||
{
|
||||
|
||||
Reference in New Issue
Block a user