lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

- initialize "drive_resolution".

Browse Source 
- drvESP300ReadbackDelay replaced by DLY field fix.
- Removed STATIC.
This commit is contained in:
Ron Sluiter
2003-11-04 15:50:57 +00:00
parent 82a56a4ee0
commit dc955e383b
1 changed files with 23 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/NewportSrc/drvESP300.cc
+23 -32
View File
@@ -2,14 +2,14 @@
FILENAME... drvESP300.cc
USAGE... Motor record driver level support for Newport ESP300.
Version: $Revision: 1.3 $
Version: $Revision: 1.4 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-05-28 14:56:11 $
Last Modified: $Date: 2003-11-04 15:50:57 $
*/
/*
* Original Author: Mark Rivers
* Date: 10/20/97
* Original Author: Ron Sluiter
* Date: 02/19/03
* Current Author: Ron Sluiter
*
* Experimental Physics and Industrial Control System (EPICS)
@@ -35,8 +35,9 @@ Last Modified: $Date: 2003-05-28 14:56:11 $
*
* Modification Log:
* -----------------
* .01 19-02-03 rls copied from drvMM3000
* .01 02-19-03 rls copied from drvMM3000
* .02 05-23-03 rls Converted to R3.14.x.
* .03 10-28-03 initialize "drive_resolution".
*/
@@ -49,8 +50,6 @@ Last Modified: $Date: 2003-05-28 14:56:11 $
#include "serialIO.h"
#include "epicsExport.h"
#define STATIC static
#define READ_POSITION "%.2dTP"
#define STOP_AXIS "%.2dST"
#define GET_IDENT "VE?"
@@ -86,13 +85,13 @@ volatile double drvESP300ReadbackDelay = 0.;
/*----------------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 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 long init();
STATIC int motor_init();
STATIC void query_done(int, int, struct mess_node *);
static int motor_init();
static void query_done(int, int, struct mess_node *);
/*----------------functions-----------------*/
@@ -134,7 +133,7 @@ struct
epicsExportAddress(drvet, drvESP300);
STATIC struct thread_args targs = {SCAN_RATE, &ESP300_access};
static struct thread_args targs = {SCAN_RATE, &ESP300_access};
/*********************************************************
* Print out driver status report
@@ -200,7 +199,7 @@ static long init()
}
STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
static void query_done(int card, int axis, struct mess_node *nodeptr)
{
}
@@ -210,7 +209,7 @@ STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
* set_status()
************************************************************/
STATIC int set_status(int card, int signal)
static int set_status(int card, int signal)
{
struct MMcontroller *cntrl;
struct mess_node *nodeptr;
@@ -253,20 +252,7 @@ STATIC int set_status(int card, int signal)
done = atoi(inbuff) ? true : false;
if (done == true)
{
motor_info->status |= RA_DONE;
/* TEMPORARY FIX, Mark Rivers, 2/1/99. The ESP300 has reported that the
* motor is done moving, which means that the "jerk time" is done. However,
* the axis can still be settling. For now we put in a delay and poll the
* motor position again. This is not a good long-term solution.
*/
if (motor_info->pid_present == YES && drvESP300ReadbackDelay != 0.)
{
epicsThreadSleep(drvESP300ReadbackDelay);
send_mess(card, READ_POSITION, (char) NULL);
recv_mess(card, cntrl->position_string, 1);
}
}
else
motor_info->status &= ~RA_DONE;
@@ -381,7 +367,7 @@ STATIC int set_status(int card, int signal)
/* send a message to the ESP300 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 inchar)
{
struct MMcontroller *cntrl;
char local_buff[BUFF_SIZE];
@@ -469,7 +455,7 @@ STATIC RTN_STATUS send_mess(int card, char const *com, char inchar)
* NORMAL RETURN.
*/
STATIC int recv_mess(int card, char *com, int flag)
static int recv_mess(int card, char *com, int flag)
{
struct MMcontroller *cntrl;
int timeout = 0;
@@ -605,7 +591,7 @@ ESP300Config(int card, /* card being configured */
/* device support. */
/* motor_init() */
/*****************************************************/
STATIC int motor_init()
static int motor_init()
{
struct controller *brdptr;
struct MMcontroller *cntrl;
@@ -677,7 +663,6 @@ STATIC int motor_init()
total_axis = 4;
}
/* The return string will tell us how many axes this controller has */
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
sprintf(buff, STOP_AXIS, motor_index + 1); /* Stop motor */
@@ -692,6 +677,12 @@ STATIC int motor_init()
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
/* Set axis resolution. */
sprintf(buff, "%.2dSU?", motor_index + 1);
send_mess(card_index, buff, NULL);
recv_mess(card_index, buff, 1);
cntrl->drive_resolution[motor_index] = atof(&buff[0]);
motor_info->status = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;