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Support for 32axes/controller.

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This commit is contained in:
Ron Sluiter
2004-09-21 14:57:12 +00:00
parent ae67207580
commit d1493d323f
1 changed files with 14 additions and 13 deletions
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motorApp/NewportSrc/drvPM500.cc
+14 -13
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@@ -2,9 +2,9 @@
FILENAME... drvPM500.cc
USAGE... Motor record driver level support for Newport PM500.
Version: $Revision: 1.11 $
Modified By: $Author: rivers $
Last Modified: $Date: 2004-08-17 21:28:22 $
Version: $Revision: 1.12 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-09-21 14:57:12 $
*/
/* Device Driver Support routines for PM500 motor controller */
@@ -42,6 +42,7 @@ Last Modified: $Date: 2004-08-17 21:28:22 $
* .05 02/03/04 rls Eliminate erroneous "Motor motion timeout ERROR".
* .06 07/09/04 rls removed unused <driver>Setup() argument.
* .07 07/28/04 rls "epicsExport" debug variable.
* .08 09/21/04 rls support for 32axes/controller.
*/
@@ -92,17 +93,17 @@ Last Modified: $Date: 2004-08-17 21:28:22 $
/* --- Local data. --- */
int PM500_num_cards = 0;
static char PM500_axis_names[PM500_NUM_CHANNELS] = {'X', 'Y', 'Z', 'A', 'B',
'C', 'D', 'E', 'F', 'G', 'H', 'I'};
static char *PM500_axis_names[] = {"X", "Y", "Z", "A", "B", "C", "D", "E", "F",
"G", "H", "I"};
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/*----------------functions-----------------*/
static int recv_mess(int, char *, int);
static RTN_STATUS send_mess(int card, char const *com, char c);
static int set_status(int card, int signal);
static long report(int level);
static RTN_STATUS send_mess(int, char const *, char *);
static int set_status(int, int);
static long report(int);
static long init();
static int motor_init();
static void query_done(int, int, struct mess_node *);
@@ -214,7 +215,7 @@ static int set_status(int card, int signal)
struct mess_node *nodeptr;
register struct mess_info *motor_info;
/* Message parsing variables */
char axis_name, status_char, dir_char, buff[BUFF_SIZE],
char *axis_name, status_char, dir_char, buff[BUFF_SIZE],
response[BUFF_SIZE];
int rtnval, rtn_state = 0;
double motorData;
@@ -228,7 +229,7 @@ static int set_status(int card, int signal)
status.All = motor_info->status.All;
/* Request the status and position of this motor */
sprintf(buff, "%cR", axis_name);
sprintf(buff, "%sR", axis_name);
send_mess(card, buff, (char) NULL);
rtnval = recv_mess(card, response, 1);
if (rtnval > 0)
@@ -340,7 +341,7 @@ exit:
/* send a message to the PM500 board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char inchar)
static RTN_STATUS send_mess(int card, char const *com, char *name)
{
struct MMcontroller *cntrl;
char local_buff[BUFF_SIZE];
@@ -602,10 +603,10 @@ static int motor_init()
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
char *firmware, axis_name = PM500_axis_names[motor_index];
char *firmware, *axis_name = PM500_axis_names[motor_index];
double res = 0.0;
sprintf(buff, "%cCONFIG?", axis_name);
sprintf(buff, "%sCONFIG?", axis_name);
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
firmware = &buff[8];