lin-epics-modules/motorBase
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- asyn motor GET_INFO command support.

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- SET_POS support.
- initial communication retries.
This commit is contained in:
Ron Sluiter
2008-04-02 19:51:03 +00:00
parent e2861518b1
commit defcc66c33
1 changed files with 34 additions and 3 deletions
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motorApp/NewportSrc/drvMM4000Asyn.c
+34 -3
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@@ -40,7 +40,8 @@ motorAxisDrvSET_t motorMM4000 =
motorAxisHome, /**< Pointer to function to execute a more to reference or home */
motorAxisMove, /**< Pointer to function to execute a position move */
motorAxisVelocityMove, /**< Pointer to function to execute a velocity mode move */
motorAxisStop /**< Pointer to function to stop motion */
motorAxisStop, /**< Pointer to function to stop motion */
motorAxisforceCallback /**< Pointer to function to request a poller status update */
};
epicsExportAddress(drvet, motorMM4000);
@@ -248,7 +249,10 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
{
case motorAxisPosition:
{
PRINT(pAxis->logParam, ERROR, "motorAxisSetDouble: MM4000 does not support setting position\n");
deviceValue = value*pAxis->stepSize;
sprintf(buff, "%dSH%.*f;%dDH;%dSH%.*f", pAxis->axis+1, pAxis->maxDigits, deviceValue,
pAxis->axis+1, pAxis->axis+1, pAxis->maxDigits, pAxis->homePreset);
ret_status = sendOnly(pAxis->pController, buff);
break;
}
case motorAxisEncoderRatio:
@@ -430,6 +434,22 @@ static int motorAxisStop(AXIS_HDL pAxis, double acceleration)
return MOTOR_AXIS_OK;
}
static int motorAxisforceCallback(AXIS_HDL pAxis)
{
if (pAxis == NULL)
return (MOTOR_AXIS_ERROR);
PRINT(pAxis->logParam, FLOW, "motorAxisforceCallback: request card %d, axis %d status update\n",
pAxis->card, pAxis->axis);
/* Force a status update. */
motorParam->forceCallback(pAxis->params);
/* Send a signal to the poller task which will make it do a status update */
epicsEventSignal(pAxis->pController->pollEventId);
return (MOTOR_AXIS_OK);
}
static void MM4000Poller(MM4000Controller *pController)
{
@@ -585,6 +605,8 @@ int MM4000AsynConfig(int card, /* Controller number */
int loopState;
int digits;
int modelNum;
int retry = 0;
asynStatus rtnval;
char *p, *tokSave;
char inputBuff[BUFFER_SIZE];
char outputBuff[BUFFER_SIZE];
@@ -615,7 +637,16 @@ int MM4000AsynConfig(int card, /* Controller number */
return MOTOR_AXIS_ERROR;
}
sendAndReceive(pController, "VE;", inputBuff, sizeof(inputBuff));
do
{
rtnval = sendAndReceive(pController, "VE;", inputBuff, sizeof(inputBuff));
retry++;
/* Return value is length of response string */
} while (rtnval != asynSuccess && retry < 3);
if (status != asynSuccess)
return (MOTOR_AXIS_ERROR);
strcpy(pController->firmwareVersion, &inputBuff[2]); /* Skip "VE" */
/* Set Motion Master model indicator. */