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Modified for robustness - added EHCO OFF command

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on communication retries.
This commit is contained in:
jsullivan-anl
2007-05-23 14:56:06 +00:00
parent 79e14d0014
commit 8e369ecc8e
1 changed files with 18 additions and 2 deletions
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motorApp/ThorLabsSrc/drvMDT695.cc
+18 -2
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@@ -4,9 +4,9 @@ USAGE... Motor record driver level support for ThorLabs
Piezo Control Module (Model: MDT695)
Compatable with MDT694, MDT693
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sullivan $
Last Modified: $Date: 2006-09-27 20:32:37 $
Last Modified: $Date: 2007-05-23 14:56:06 $
*/
@@ -55,6 +55,8 @@ Last Modified: $Date: 2006-09-27 20:32:37 $
#define CMD_ID "I"
#define CMD_DEV "D"
#define RESP_DEV "d" /* Response if ECHO is ON */
#define CMD_ECHO "E"
#define CMD_POS "#R?"
#define MDT695_NUM_CARDS 16
@@ -239,9 +241,11 @@ static int set_status(int card, int signal)
double datad;
/* Convert position and check for error */
Debug(5, "set_status(): RecvStr = %s\n", &startptr[2]);
datad = strtod(&startptr[2], &endptr);
if (&startptr[2] != endptr)
{
Debug(5, "set_status(): motorData = %.2f\n", datad);
motorData = NINT(datad / cntrl->drive_resolution);
recvRetry = false;
}
@@ -252,6 +256,11 @@ static int set_status(int card, int signal)
cntrl->status = NORMAL;
else
{
/* Try turning Echo OFF before next retry */
recvCnt = recv_mess(card, startptr, 0); /* Flush recv buffer */
send_mess(card, CMD_ECHO, NULL);
recvCnt = recv_mess(card, startptr, 0);
if (cntrl->status == NORMAL)
{
epicsThreadSleep(MOTION_DELAY);
@@ -564,6 +573,13 @@ static int motor_init()
/* Check for valid response -- if not retry */
if ((recvCnt > 0) && strstr(buff, "MDT"))
cardFound = true;
else
{
/* Try turning Echo OFF */
recvCnt = recv_mess(card_index, buff, 0); /* Flush recv buffer */
send_mess(card_index, CMD_ECHO, NULL);
recvCnt = recv_mess(card_index, buff, 0);
}
} while(!cardFound && ++retryCnt < 3);
}