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PC68/78 firmware bug work-a-round for erroneous response

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after response to "?KP" command at boot-up.
This commit is contained in:
Ron Sluiter
2006-08-18 21:12:33 +00:00
parent ede6b73b0e
commit e39b660094
1 changed files with 13 additions and 2 deletions
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motorApp/OmsSrc/drvOmsPC68.cc
+13 -2
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@@ -2,9 +2,9 @@
FILENAME... drvOmsPC68.cc
USAGE... Motor record driver level support for OMS PC68 serial device.
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2006-04-24 18:12:00 $
Last Modified: $Date: 2006-08-18 21:12:33 $
*/
/*
@@ -46,6 +46,9 @@ Last Modified: $Date: 2006-04-24 18:12:00 $
* .02 04/24/06 rls - support for both PC68 and PC78.
* - test for encoder support.
* - test for servo support.
* .03 08/11/06 rls - work around for erroneous response after response to
* "?KP" command at boot-up; resulted in 1st axis having
* same position (RP command) as last axis.
*/
#include <string.h>
@@ -742,6 +745,14 @@ static int motor_init()
else
pmotorState->motor_info[motor_index].pid_present = YES;
}
/* Testing for PID parameters (?KP) causes erroneous response from
* "report position" command at boot-up. Work around is the following
* dummy communication transaction.
*/
send_mess (card_index, ALL_POS, (char) NULL);
recv_mess (card_index, axis_pos, 1);
for (motor_index=0;motor_index<total_axis;motor_index++)
{