lin-epics-modules/motorBase
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Converted from MPF to asyn.

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This commit is contained in:
Ron Sluiter
2004-07-16 19:24:38 +00:00
parent f540bdd4ca
commit 9af158435a
5 changed files with 32 additions and 35 deletions
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motorApp/MicosSrc/Makefile
+1 -1
View File
@@ -13,7 +13,7 @@ LIBRARY_IOC = Micos
SRCS += MicosRegister.cc
SRCS += devMicos.cc drvMicos.cc
Micos_LIBS += motor motorCOM_mpf
Micos_LIBS += motor asyn
Micos_LIBS += $(EPICS_BASE_IOC_LIBS)
include $(TOP)/configure/RULES
motorApp/MicosSrc/MicosRegister.cc
+6 -9
View File
@@ -2,9 +2,9 @@
FILENAME... MicosRegister.cc
USAGE... Register Micos MoCo dc motor controller device driver shell commands.
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-02-13 18:21:19 $
Last Modified: $Date: 2004-07-16 19:22:58 $
*/
/*****************************************************************
@@ -36,17 +36,14 @@ static const iocshArg setupArg1 = {"Max. motor count", iocshArgInt};
static const iocshArg setupArg2 = {"Polling rate", iocshArgInt};
// Micos Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"MPF server location", iocshArgInt};
static const iocshArg configArg2 = {"MPF server task name", iocshArgString};
static const iocshArg configArg1 = {"asyn port name", iocshArgString};
static const iocshArg * const MicosSetupArgs[3] = {&setupArg0, &setupArg1,
&setupArg2};
static const iocshArg * const MicosConfigArgs[3] = {&configArg0, &configArg1,
&configArg2};
static const iocshArg * const MicosConfigArgs[2] = {&configArg0, &configArg1};
static const iocshFuncDef setupMicos = {"MicosSetup", 3, MicosSetupArgs};
static const iocshFuncDef configMicos = {"MicosConfig", 3, MicosConfigArgs};
static const iocshFuncDef configMicos = {"MicosConfig", 2, MicosConfigArgs};
static void setupMicosCallFunc(const iocshArgBuf *args)
{
@@ -56,7 +53,7 @@ static void setupMicosCallFunc(const iocshArgBuf *args)
static void configMicosCallFunc(const iocshArgBuf *args)
{
MicosConfig(args[0].ival, args[1].ival, args[2].sval);
MicosConfig(args[0].ival, args[1].sval);
}
motorApp/MicosSrc/drvMicos.cc
+18 -19
View File
@@ -11,6 +11,7 @@
* .01 02-06-2004 rls Eliminate erroneous "Motor motion timeout ERROR".
* .02 02-12-2004 rls Copied from drvMicos.c. Upgraded from R3.14.x
* .03 02-17-2004 rls Removed Debug calls to tickGet().
* .04 07-12-2004 rls Converted from MPF to asyn.
*/
@@ -19,12 +20,11 @@
#include <drvSup.h>
#include "motor.h"
#include "drvMicos.h"
#include "serialIO.h"
#include "epicsExport.h"
#define WAIT 1
#define SERIAL_TIMEOUT 2000 /* Command timeout in msec */
#define COMM_TIMEOUT 2 /* Command timeout in seconds. */
#define BUFF_SIZE 100 /* Maximum length of string to/from Micos */
@@ -308,10 +308,9 @@ static RTN_STATUS send_mess(int card, const char *com, char c)
strcpy(buff, com);
strcat(buff, OUTPUT_TERMINATOR);
Debug(2, "send_mess: sending message to card %d, message=%s\n",
card, buff);
Debug(2, "send_mess: sending message to card %d, message=%s\n", card, buff);
cntrl = (struct MicosController *) motor_state[card]->DevicePrivate;
cntrl->serialInfo->serialIOSend(buff, strlen(buff), SERIAL_TIMEOUT);
pasynSyncIO->write(cntrl->pasynUser, buff, strlen(buff), COMM_TIMEOUT);
return (OK);
}
@@ -324,6 +323,7 @@ static RTN_STATUS send_mess(int card, const char *com, char c)
static int recv_mess(int card, char *com, int flag)
{
int timeout;
int flush = 0;
int len=0;
struct MicosController *cntrl;
@@ -340,8 +340,10 @@ static int recv_mess(int card, char *com, int flag)
if (flag == FLUSH)
timeout = 0;
else
timeout = SERIAL_TIMEOUT;
len = cntrl->serialInfo->serialIORecv(com, BUFF_SIZE, (char *) "\3", timeout);
timeout = COMM_TIMEOUT;
len = pasynSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE, (char *) "\3",
1, flush, timeout);
/* The response from the Micos is terminated with <CR><LF><ETX>. Remove */
if (len < 3) com[0] = '\0';
@@ -409,9 +411,8 @@ MicosSetup(int num_cards, /* maximum number of "controllers" in system */
/* MicosConfig() */
/*****************************************************/
RTN_STATUS
MicosConfig(int card, /* "controller" being configured */
int location, /* MPF server location */
const char *name) /* MPF server task name */
MicosConfig(int card, /* "controller" being configured */
const char *name) /* asyn server task name */
{
struct MicosController *cntrl;
@@ -420,9 +421,9 @@ MicosConfig(int card, /* "controller" being configured */
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct MicosController));
cntrl = (struct MicosController *) motor_state[card]->DevicePrivate;
cntrl->serial_card = location;
strcpy(cntrl->serial_task, name);
strcpy(cntrl->asyn_port, name);
return(OK);
}
@@ -442,7 +443,8 @@ static int motor_init()
char buff[BUFF_SIZE];
int total_axis = 0;
int status = 0;
bool errind, success_rtn;
bool errind;
asynStatus success_rtn;
initialized = true; /* Indicate that driver is initialized. */
@@ -465,12 +467,9 @@ static int motor_init()
/* Initialize communications channel */
errind = false;
success_rtn = false;
cntrl->serialInfo = new serialIO(cntrl->serial_card,
cntrl->serial_task, &success_rtn);
success_rtn = pasynSyncIO->connect(cntrl->asyn_port, 0, &cntrl->pasynUser);
if (success_rtn == true)
if (success_rtn == asynSuccess)
{
int retry = 0;
@@ -499,7 +498,7 @@ static int motor_init()
}
if (success_rtn == true && status > 0)
if (success_rtn == asynSuccess && status > 0)
{
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
motorApp/MicosSrc/drvMicos.h
+6 -5
View File
@@ -10,6 +10,7 @@
* Modification Log:
* -----------------
* .00 11/24/2003 kag initialized from drvMCB4B.h
* .01 07/12/2004 rls Converted from MPF to asyn.
*/
#ifndef INCdrvMicosh
@@ -17,7 +18,8 @@
#include "motor.h"
#include "motordrvCom.h"
#include "serialIO.h"
#include "asynDriver.h"
#include "asynSyncIO.h"
/* Micos default profile. */
@@ -28,13 +30,12 @@
struct MicosController
{
serialIO *serialInfo; /* For RS-232 */
int serial_card; /* Card on which Hideos/MPF is running */
char serial_task[20]; /* Hideos/MPF task/server name for serial port */
asynUser *pasynUser; /* For RS-232 */
char asyn_port[80]; /* asyn port name */
};
/* Function prototypes. */
extern RTN_STATUS MicosSetup(int, int, int);
extern RTN_STATUS MicosConfig(int, int, const char *);
extern RTN_STATUS MicosConfig(int, const char *);
#endif /* INCdrvMicosh */
motorApp/MicroMoSrc/Makefile
+1 -1
View File
@@ -13,7 +13,7 @@ LIBRARY_IOC = MicroMo
SRCS += MicroMoRegister.cc
SRCS += devMVP2001.cc drvMVP2001.cc
MicroMo_LIBS += motor motorCOM_mpf
MicroMo_LIBS += motor asyn
MicroMo_LIBS += $(EPICS_BASE_IOC_LIBS)
include $(TOP)/configure/RULES