lin-epics-modules/motorBase
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- Removed unused macros.

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- 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
2000-07-17 16:09:38 +00:00
parent 7120b5e27f
commit a660d95c74
1 changed files with 32 additions and 25 deletions
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motorApp/OmsSrc/drvOms58.c
+32 -25
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@@ -2,9 +2,9 @@
FILENAME... drvOms58.c
USAGE... Motor record driver level support for OMS model VME58.
Version: $Revision: 1.3 $
Version: $Revision: 1.4 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2000-06-14 16:13:56 $
Last Modified: $Date: 2000-07-17 16:09:38 $
*/
/*
@@ -101,12 +101,12 @@ extern "C" {
#define PROBE_SUCCESS(STATUS) ((STATUS)==S_dev_addressOverlap)
/* jps: INFO messages - add RV and move QA to top */
#define ALL_INFO "A? QA EA\n" /* jps: add RV */
#define AXIS_INFO "A? QA\n" /* jps: add RV */
#define ENCODER_QUERY "A? EA ID\n"
#define AXIS_CLEAR "A? CA\n" /* Clear done of addressed axis */
#define DONE_QUERY "A? RA\n" /* ?? Is this needed?? */
#define PID_QUERY "A? KK2 ID\n"
#define ALL_INFO "QA EA" /* jps: add RV */
#define AXIS_INFO "QA" /* jps: add RV */
#define ENCODER_QUERY "EA ID"
#define AXIS_CLEAR "CA" /* Clear done of addressed axis */
#define DONE_QUERY "RA" /* ?? Is this needed?? */
#define PID_QUERY "KK2 ID"
/*----------------debugging-----------------*/
@@ -137,6 +137,7 @@ STATIC volatile unsigned omsInterruptVector = 0;
STATIC volatile uint8_t omsInterruptLevel = OMS_INT_LEVEL;
STATIC volatile int max_io_tries = MAX_COUNT;
STATIC volatile int motionTO = 10;
STATIC char oms58_axis[] = {'X', 'Y', 'Z', 'T', 'U', 'V', 'R', 'S'};
/* --- Local data specific to the Oms58 driver. --- */
STATIC volatile int cmndBuffReadyWait = 4;
@@ -184,7 +185,8 @@ struct driver_table oms58_access =
set_status,
query_done,
start_status,
&initialized
&initialized,
oms58_axis
};
struct
@@ -234,11 +236,11 @@ STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
{
char buffer[40];
send_mess(card, DONE_QUERY, oms_trans_axis[axis]);
send_mess(card, DONE_QUERY, oms58_axis[axis]);
recv_mess(card, buffer, 1);
if (nodeptr->status & RA_PROBLEM)
send_mess(card, AXIS_STOP, oms_trans_axis[axis]);
send_mess(card, AXIS_STOP, oms58_axis[axis]);
}
@@ -322,13 +324,13 @@ STATIC int set_status(int card, int signal)
if (motor_state[card]->motor_info[signal].encoder_present == YES)
{
/* get 4 peices of info from axis */
send_mess(card, ALL_INFO, oms_trans_axis[signal]);
send_mess(card, ALL_INFO, oms58_axis[signal]);
recv_mess(card, q_buf, 2);
}
else
{
/* get 2 peices of info from axis */
send_mess(card, AXIS_INFO, oms_trans_axis[signal]);
send_mess(card, AXIS_INFO, oms58_axis[signal]);
recv_mess(card, q_buf, 1);
}
@@ -419,7 +421,7 @@ STATIC int set_status(int card, int signal)
if (motor_info->no_motion_count > motionTO)
{
motor_info->status |= RA_PROBLEM;
send_mess(card, AXIS_STOP, oms_trans_axis[signal]);
send_mess(card, AXIS_STOP, oms58_axis[signal]);
motor_info->no_motion_count = 0;
errlogSevPrintf(errlogMinor, "Motor motion timeout ERROR on card: %d, signal: %d\n",
card, signal);
@@ -465,10 +467,8 @@ STATIC int set_status(int card, int signal)
(nodeptr != 0) &&
(nodeptr->postmsgptr != 0))
{
strcpy(outbuf, "A? ");
strcat(outbuf, nodeptr->postmsgptr);
strcat(outbuf, "\n");
send_mess(card, outbuf, oms_trans_axis[signal]);
strcpy(outbuf, nodeptr->postmsgptr);
send_mess(card, outbuf, oms58_axis[signal]);
nodeptr->postmsgptr = NULL;
}
@@ -520,9 +520,16 @@ STATIC int send_mess(int card, char const *com, char inchar)
recv_mess(card, NULL, -1);
}
strcpy(outbuf, com);
if (inchar != (char) NULL)
outbuf[1] = inchar; /* put in axis */
if (inchar == NULL)
strcpy(outbuf, com);
else
{
strcpy(outbuf, "A? ");
outbuf[1] = inchar;
strcat(outbuf, com);
}
strcat(outbuf, "\n"); /* Add the command line terminator. */
Debug(9, "send_mess: ready to send message.\n");
putIndex = pmotor->outPutIndex;
@@ -939,7 +946,7 @@ STATIC int motor_init()
/* Disable all interrupts */
pmotor->control.cntrlReg = 0;
send_mess(card_index, "EF\n", (char) NULL);
send_mess(card_index, "EF", (char) NULL);
send_mess(card_index, ERROR_CLEAR, (char) NULL);
send_mess(card_index, STOP_ALL, (char) NULL);
@@ -966,7 +973,7 @@ STATIC int motor_init()
for (total_encoders = total_pidcnt = 0, motor_index = 0; motor_index < total_axis; motor_index++)
{
/* Test if motor has an encoder. */
send_mess(card_index, ENCODER_QUERY, oms_trans_axis[motor_index]);
send_mess(card_index, ENCODER_QUERY, oms58_axis[motor_index]);
while (!pmotor->control.doneReg) /* Wait for command to complete. */
oms_nanoSleep(1);
@@ -985,7 +992,7 @@ STATIC int motor_init()
}
/* Test if motor has PID parameters. */
send_mess(card_index, PID_QUERY, oms_trans_axis[motor_index]);
send_mess(card_index, PID_QUERY, oms58_axis[motor_index]);
do /* Wait for command to complete. */
{
taskDelay(1);
@@ -1027,7 +1034,7 @@ STATIC int motor_init()
set_status(card_index, motor_index);
send_mess(card_index, DONE_QUERY, oms_trans_axis[motor_index]); /* Is this needed??? */
send_mess(card_index, DONE_QUERY, oms58_axis[motor_index]); /* Is this needed??? */
recv_mess(card_index, axis_pos, 1);
}