lin-epics-modules/motorBase
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Modified test to determine if encoder is present in order to accommodate new firmware.

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This commit is contained in:
Ron Sluiter
2011-03-10 21:12:17 +00:00
parent 758ef0b7cc
commit e21514215f
1 changed files with 40 additions and 5 deletions
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motorApp/ImsSrc/drvMDrive.cc
+40 -5
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@@ -34,6 +34,13 @@ HeadURL: $URL$
* Advanced Photon Source
* Argonne National Laboratory
*
* NOTES
* -----
* Verified with firmware:
*
* - 901.086 E
* - 3.010
*
* Modification Log:
* -----------------
* .01 03/21/03 rls copied from drvIM483PL.c
@@ -50,6 +57,9 @@ HeadURL: $URL$
* extern "C" linkage.
* .07 03/18/05 rls - Flexible MDrive I/O configuration.
* - Change Echo mode to 2; eliminate eat_garbage().
* .08 12/17/10 rls - Test to determine if encoder is present changed to
* accommodate new firmware.
* - support actual velocity status update.
*/
/*
@@ -364,10 +374,12 @@ static int set_status(int card, int signal)
status.Bits.RA_PROBLEM = 0;
/* Parse motor velocity? */
/* NEEDS WORK */
/* Get current motor velocity */
motor_info->velocity = 0;
send_mess(card, "PR V", MDrive_axis[signal]);
recv_mess(card, buff, 1);
motorData = atof(buff);
motor_info->velocity = (epicsInt32) motorData;
if (!status.Bits.RA_DIRECTION)
motor_info->velocity *= -1;
@@ -612,6 +624,7 @@ static int motor_init()
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
int itera;
bool encoder = false; /* Default to no encoder detected. */
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
motor_info->status.All = 0;
@@ -619,17 +632,39 @@ static int motor_init()
motor_info->encoder_position = 0;
motor_info->position = 0;
brdptr->motor_info[motor_index].motor_motion = NULL;
/* Assume no encoder support. */
motor_info->encoder_present = NO;
/* Determine if encoder present based last character of "ident". */
if (brdptr->ident[strlen(brdptr->ident) - 1] == 'E')
encoder = true;
else
{
int size;
/* Try to get "Part number" (not in old firmware). */
send_mess(card_index, "PR PN", MDrive_axis[motor_index]);
size = recv_mess(card_index, buff, 1);
if (size > 0)
{
bool found = false;
found |= !strcmp(&buff[size-1],"E");
found |= !strcmp(&buff[size-2],"EQ");
found |= !strcmp(&buff[size-2],"EE");
found |= !strcmp(&buff[size-3],"EJM");
found |= !strcmp(&buff[size-5],"EJM-N");
encoder = found;
}
}
if (encoder == true)
{
motor_info->pid_present = YES;
motor_info->status.Bits.GAIN_SUPPORT = 1;
motor_info->encoder_present = YES;
motor_info->status.Bits.EA_PRESENT = 1;
}
else
motor_info->encoder_present = NO;
/* Determine input configuration. */
confptr->homeLS = confptr->minusLS = confptr->plusLS = 0;