lin-epics-modules/motorBase
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Changes to support logging; added motorAxisResolution

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MarkRivers
2006-04-08 20:11:36 +00:00
parent 071f932661
commit e2f08ba8f8
1 changed files with 50 additions and 1 deletions
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motorApp/MotorSrc/drvMotorAsyn.c
+50 -1
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@@ -60,6 +60,7 @@ static motorCommandStruct motorCommands[] = {
{motorVelBase, "VEL_BASE"},
{motorAccel, "ACCEL"},
{motorPosition, "POSITION"},
{motorResolution, "RESOLUTION"},
{motorEncRatio, "ENC_RATIO"},
{motorPgain, "PGAIN"},
{motorIgain, "IGAIN"},
@@ -84,6 +85,7 @@ typedef struct drvmotorAxisPvt {
/* Received status */
epicsInt32 status;
struct drvmotorPvt *pPvt;
asynUser *pasynUser;
} drvmotorAxisPvt;
typedef struct drvmotorPvt {
@@ -136,7 +138,10 @@ static asynStatus disconnect (void *drvPvt, asynUser *pasynUser);
static void intCallback(void *drvPvt, unsigned int num, unsigned int *changed);
static void setDefaults(drvmotorAxisPvt *pAxis);
static int config (drvmotorPvt *pPvt);
static int logFunc (void *userParam,
const motorAxisLogMask_t logMask,
const char *pFormat, ...);
static asynCommon drvMotorCommon = {
report,
connect,
@@ -262,7 +267,17 @@ int drvAsynMotorConfigure(const char *portName, const char *driverName, int card
pAxis->axis = (*pPvt->drvset->open)(card, i, "");
pAxis->num = i;
pAxis->pPvt = pPvt;
/* Create asynUser for debugging */
pAxis->pasynUser = pasynManager->createAsynUser(0, 0);
/* Connect to device */
status = pasynManager->connectDevice(pAxis->pasynUser, portName, i);
if (status != asynSuccess) {
errlogPrintf("drvAsynMotorConfigure, connectDevice failed\n");
return -1;
}
(*pPvt->drvset->setCallback)(pAxis->axis, intCallback, (void *)pAxis);
(*pPvt->drvset->setLogParam)(pAxis->axis, pAxis->pasynUser);
(*pPvt->drvset->setLog)(logFunc);
setDefaults(pAxis);
}
@@ -432,6 +447,7 @@ static asynStatus writeFloat64(void *drvPvt, asynUser *pasynUser,
pAxis->accel = value;
break;
case motorPosition:
case motorResolution:
case motorEncRatio:
case motorPgain:
case motorIgain:
@@ -459,6 +475,39 @@ static void setDefaults(drvmotorAxisPvt *pAxis)
pAxis->accel = 100.0;
}
static int logFunc(void *userParam,
const motorAxisLogMask_t logMask,
const char *pFormat, ...)
{
va_list pvar;
asynUser *pasynUser = (asynUser *)userParam;
int reason;
reason=pasynTrace->getTraceMask(pasynUser);
va_start(pvar, pFormat);
switch(logMask) {
case motorAxisTraceError:
if (reason & ASYN_TRACE_ERROR) vfprintf(stdout, pFormat, pvar);
break;
case motorAxisTraceIODevice:
if (reason & ASYN_TRACEIO_DEVICE) vfprintf(stdout, pFormat, pvar);
break;
case motorAxisTraceIOFilter:
if (reason & ASYN_TRACEIO_FILTER) vfprintf(stdout, pFormat, pvar);
break;
case motorAxisTraceIODriver:
if (reason & ASYN_TRACEIO_DRIVER) vfprintf(stdout, pFormat, pvar);
break;
case motorAxisTraceFlow:
if (reason & ASYN_TRACE_FLOW) vfprintf(stdout, pFormat, pvar);
break;
default:
asynPrint(pasynUser, ASYN_TRACE_ERROR, "drvMotorAsyn:logFunc unknown logMask %d\n", logMask);
}
va_end (pvar);
return(MOTOR_AXIS_OK);
}
static void intCallback(void *axisPvt, unsigned int nChanged,
unsigned int *changed)
{