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Reformatted; tabs->spaces; no source code changes.

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This commit is contained in:
Ron Sluiter
2008-09-09 18:35:32 +00:00
parent 7f10c327be
commit e60d0d5531
1 changed files with 250 additions and 249 deletions
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motorApp/NewportSrc/drvMM4000.cc
+250 -249
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@@ -2,15 +2,15 @@
FILENAME... drvMM4000.cc
USAGE... Motor record driver level support for Newport MM4000.
Version: $Revision: 1.21 $
Modified By: $Author: rivers $
Last Modified: $Date: 2005-12-15 20:19:02 $
Version: $Revision: 1.22 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-09-09 18:35:32 $
*/
/*
* Original Author: Mark Rivers
* Date: 10/20/97
* Current Author: Ron Sluiter
* Current Author: Ron Sluiter
*
* Experimental Physics and Industrial Control System (EPICS)
*
@@ -39,13 +39,12 @@ Last Modified: $Date: 2005-12-15 20:19:02 $
* .02 10-30-97 mlr Replaced driver calls with gpipIO functions
* .03 10-30-98 mlr Minor code cleanup, improved formatting
* .04 02-01-99 mlr Added temporary fix to delay reading motor positions at
* the end of a move.
* the end of a move.
* .05 10-13-99 rls modified for standardized motor record.
* .06 09-17-01 rls
* - created a bit-field for motor status response.
* - start_status() allows one retry after a communication error.
* - set_status() sets RA_PROBLEM along with CNTRL_COMM_ERR to terminate
* node.
* - created a bit-field for motor status response.
* - start_status() allows one retry after a communication error.
* - set_status() sets RA_PROBLEM along with CNTRL_COMM_ERR to terminate node.
* .07 05-19-03 rls Converted to R3.14.x.
* .08 11-04-03 mlr Added a final poll of motor status if drvMM4000ReadbackDelay is
* non-zero. This is required to work around a bug in the firmware
@@ -55,10 +54,10 @@ Last Modified: $Date: 2005-12-15 20:19:02 $
* .10 07/09/04 rls removed unused <driver>Setup() argument.
* .11 07/28/04 rls "epicsExport" debug variable.
* .12 09/21/04 rls support for 32axes/controller.
* .13 12/21/04 rls - support for MM4006.
* - MS Visual C compatibility; make all epicsExportAddress
* extern "C" linkage.
* - make debug variables always available.
* .13 12/21/04 rls
* - support for MM4006.
* - MS Visual C compatibility; make all epicsExportAddress extern "C" linkage.
* - make debug variables always available.
*/
@@ -97,9 +96,9 @@ Last Modified: $Date: 2005-12-15 20:19:02 $
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) { if(l<=drvMM4000debug) printf(f,## args); }
#define Debug(l, f, args...) { if(l<=drvMM4000debug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#define Debug(l, f, args...)
#endif
#else
#define Debug()
@@ -113,6 +112,7 @@ int MM4000_num_cards = 0;
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/* This is a temporary fix to introduce a delayed reading of the motor
* position after a move completes
*/
@@ -179,42 +179,42 @@ static long report(int level)
int card;
if (MM4000_num_cards <=0)
printf(" No MM4000 controllers configured.\n");
printf(" No MM4000 controllers configured.\n");
else
{
for (card = 0; card < MM4000_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" MM4000 controller %d connection failed.\n", card);
else
for (card = 0; card < MM4000_num_cards; card++)
{
struct MMcontroller *cntrl;
struct controller *brdptr = motor_state[card];
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
printf(" MM4000 controller %d, port=%s, address=%d, id: %s \n",
card, cntrl->asyn_port, cntrl->asyn_address,
brdptr->ident);
if (brdptr == NULL)
printf(" MM4000 controller %d connection failed.\n", card);
else
{
struct MMcontroller *cntrl;
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
printf(" MM4000 controller %d, port=%s, address=%d, id: %s \n",
card, cntrl->asyn_port, cntrl->asyn_address,
brdptr->ident);
}
}
}
}
return(OK);
}
static long init()
{
/*
* We cannot call motor_init() here, because that function can do GPIB I/O,
* and hence requires that the drvGPIB have already been initialized.
* That cannot be guaranteed, so we need to call motor_init from device
* support
*/
/*
* We cannot call motor_init() here, because that function can do GPIB I/O,
* and hence requires that the drvGPIB have already been initialized.
* That cannot be guaranteed, so we need to call motor_init from device
* support
*/
/* Check for setup */
if (MM4000_num_cards <= 0)
{
Debug(1, "init(): MM4000 driver disabled. MM4000Setup() missing from startup script.\n");
Debug(1, "init(): MM4000 driver disabled. MM4000Setup() missing from startup script.\n");
}
return((long) 0);
}
@@ -237,52 +237,52 @@ static void start_status(int card)
if (card >= 0)
{
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
send_mess(card, READ_STATUS, (char) NULL);
status = recv_mess(card, cntrl->status_string, 1);
if (status > 0)
{
cntrl->status = NORMAL;
send_mess(card, READ_POSITION, (char) NULL);
recv_mess(card, cntrl->position_string, 1);
}
else
{
if (cntrl->status == NORMAL)
cntrl->status = RETRY;
else
cntrl->status = COMM_ERR;
}
}
else
{
/*
* For efficiency we send messages to all cards, then read all
* responses. This minimizes the latency due to processing on each card
*/
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
send_mess(itera, READ_STATUS, (char) NULL);
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
{
cntrl = (struct MMcontroller *) motor_state[itera]->DevicePrivate;
status = recv_mess(itera, cntrl->status_string, 1);
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
send_mess(card, READ_STATUS, (char) NULL);
status = recv_mess(card, cntrl->status_string, 1);
if (status > 0)
cntrl->status = NORMAL;
{
cntrl->status = NORMAL;
send_mess(card, READ_POSITION, (char) NULL);
recv_mess(card, cntrl->position_string, 1);
}
else
{
if (cntrl->status == NORMAL)
cntrl->status = RETRY;
else
cntrl->status = COMM_ERR;
if (cntrl->status == NORMAL)
cntrl->status = RETRY;
else
cntrl->status = COMM_ERR;
}
}
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
send_mess(itera, READ_POSITION, (char) NULL);
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
else
{
cntrl = (struct MMcontroller *) motor_state[itera]->DevicePrivate;
recv_mess(itera, cntrl->position_string, 1);
}
/*
* For efficiency we send messages to all cards, then read all
* responses. This minimizes the latency due to processing on each card
*/
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
send_mess(itera, READ_STATUS, (char) NULL);
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
{
cntrl = (struct MMcontroller *) motor_state[itera]->DevicePrivate;
status = recv_mess(itera, cntrl->status_string, 1);
if (status > 0)
cntrl->status = NORMAL;
else
{
if (cntrl->status == NORMAL)
cntrl->status = RETRY;
else
cntrl->status = COMM_ERR;
}
}
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
send_mess(itera, READ_POSITION, (char) NULL);
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
{
cntrl = (struct MMcontroller *) motor_state[itera]->DevicePrivate;
recv_mess(itera, cntrl->position_string, 1);
}
}
}
@@ -313,21 +313,21 @@ static int set_status(int card, int signal)
if (cntrl->status != NORMAL)
{
if (cntrl->status == COMM_ERR)
{
status.Bits.CNTRL_COMM_ERR = 1;
status.Bits.RA_PROBLEM = 1;
rtn_state = 1;
goto exit;
if (cntrl->status == COMM_ERR)
{
status.Bits.CNTRL_COMM_ERR = 1;
status.Bits.RA_PROBLEM = 1;
rtn_state = 1;
goto exit;
}
else
{
rtn_state = 0;
goto exit;
}
}
else
{
rtn_state = 0;
goto exit;
}
}
else
status.Bits.CNTRL_COMM_ERR = 0;
status.Bits.CNTRL_COMM_ERR = 0;
nodeptr = motor_info->motor_motion;
@@ -346,7 +346,7 @@ static int set_status(int card, int signal)
if (mstat.Bits.inmotion == false)
{
status.Bits.RA_DONE = 1;
status.Bits.RA_DONE = 1;
/* TEMPORARY FIX, Mark Rivers, 2/1/99. The MM4000 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
@@ -358,39 +358,39 @@ static int set_status(int card, int signal)
* on the first poll, when it is really moving. We work around this by reading
* the status again after the delay, in case it is really still moving.
*/
if (motor_info->pid_present == YES && drvMM4000ReadbackDelay != 0.)
{
epicsThreadSleep(drvMM4000ReadbackDelay);
send_mess(card, READ_POSITION, (char) NULL);
recv_mess(card, cntrl->position_string, 1);
pos = signal*5 + 3; /* Offset in status string */
mstat.All = cntrl->status_string[pos];
if (mstat.Bits.inmotion == true)
status.Bits.RA_DONE = 0;
send_mess(card, READ_POSITION, 0);
recv_mess(card, cntrl->position_string, 1);
}
if (motor_info->pid_present == YES && drvMM4000ReadbackDelay != 0.)
{
epicsThreadSleep(drvMM4000ReadbackDelay);
send_mess(card, READ_POSITION, (char) NULL);
recv_mess(card, cntrl->position_string, 1);
pos = signal*5 + 3; /* Offset in status string */
mstat.All = cntrl->status_string[pos];
if (mstat.Bits.inmotion == true)
status.Bits.RA_DONE = 0;
send_mess(card, READ_POSITION, 0);
recv_mess(card, cntrl->position_string, 1);
}
}
else
status.Bits.RA_DONE = 0;
status.Bits.RA_DONE = 0;
/* Set Travel limit switch status bits. */
if (mstat.Bits.plustTL == false)
status.Bits.RA_PLUS_LS = 0;
status.Bits.RA_PLUS_LS = 0;
else
{
status.Bits.RA_PLUS_LS = 1;
if (plusdir == true)
ls_active = true;
status.Bits.RA_PLUS_LS = 1;
if (plusdir == true)
ls_active = true;
}
if (mstat.Bits.minusTL == false)
status.Bits.RA_MINUS_LS = 0;
status.Bits.RA_MINUS_LS = 0;
else
{
status.Bits.RA_MINUS_LS = 1;
if (plusdir == false)
ls_active = true;
status.Bits.RA_MINUS_LS = 1;
if (plusdir == false)
ls_active = true;
}
status.Bits.RA_HOME = (mstat.Bits.homels == false) ? 0 : 1;
@@ -411,24 +411,24 @@ static int set_status(int card, int signal)
tok_save = NULL;
p = epicsStrtok_r(buff, ",", &tok_save);
for (itera = 0; itera < signal; itera++)
p = epicsStrtok_r(NULL, ",", &tok_save);
p = epicsStrtok_r(NULL, ",", &tok_save);
Debug(6, "set_status(): position substring = %s\n", p);
motorData = atof(p+3) / cntrl->drive_resolution[signal];
if (motorData == motor_info->position)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
}
else
{
motor_info->position = NINT(motorData);
if (motor_state[card]->motor_info[signal].encoder_present == YES)
motor_info->encoder_position = (epicsInt32) motorData;
else
motor_info->encoder_position = 0;
motor_info->position = NINT(motorData);
if (motor_state[card]->motor_info[signal].encoder_present == YES)
motor_info->encoder_position = (epicsInt32) motorData;
else
motor_info->encoder_position = 0;
motor_info->no_motion_count = 0;
motor_info->no_motion_count = 0;
}
status.Bits.RA_PROBLEM = 0;
@@ -439,18 +439,18 @@ static int set_status(int card, int signal)
motor_info->velocity = 0;
if (!status.Bits.RA_DIRECTION)
motor_info->velocity *= -1;
motor_info->velocity *= -1;
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
/* Test for post-move string. */
if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
nodeptr->postmsgptr != 0)
nodeptr->postmsgptr != 0)
{
strcpy(buff, nodeptr->postmsgptr);
send_mess(card, buff, (char) NULL);
nodeptr->postmsgptr = NULL;
strcpy(buff, nodeptr->postmsgptr);
send_mess(card, buff, (char) NULL);
nodeptr->postmsgptr = NULL;
}
exit:
@@ -473,22 +473,22 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
if (size > MAX_MSG_SIZE)
{
errlogMessage("drvMM4000.c:send_mess(); message size violation.\n");
return(ERROR);
errlogMessage("drvMM4000.c:send_mess(); message size violation.\n");
return(ERROR);
}
else if (size == 0) /* Normal exit on empty input message. */
return(OK);
return(OK);
if (!motor_state[card])
{
errlogPrintf("drvMM4000.c:send_mess() - invalid card #%d\n", card);
return(ERROR);
errlogPrintf("drvMM4000.c:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
if (name != NULL)
{
errlogPrintf("drvMM4000.c:send_mess() - invalid argument = %s\n", name);
return(ERROR);
errlogPrintf("drvMM4000.c:send_mess() - invalid argument = %s\n", name);
return(ERROR);
}
Debug(2, "send_mess(): message = %s\n", com);
@@ -527,7 +527,7 @@ static int recv_mess(int card, char *com, int flag)
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
return(ERROR);
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
@@ -537,8 +537,8 @@ static int recv_mess(int card, char *com, int flag)
if ((status != asynSuccess) || (nread <= 0))
{
com[0] = '\0';
nread = 0;
com[0] = '\0';
nread = 0;
}
Debug(2, "recv_mess(): message = \"%s\"\n", com);
@@ -552,32 +552,32 @@ static int recv_mess(int card, char *com, int flag)
/*****************************************************/
RTN_STATUS
MM4000Setup(int num_cards, /* maximum number of controllers in system. */
int scan_rate) /* polling rate - 1/60 sec units. */
int scan_rate) /* polling rate - 1/60 sec units. */
{
int itera;
if (num_cards < 1 || num_cards > MM4000_NUM_CARDS)
MM4000_num_cards = MM4000_NUM_CARDS;
MM4000_num_cards = MM4000_NUM_CARDS;
else
MM4000_num_cards = num_cards;
MM4000_num_cards = num_cards;
/* Set motor polling task rate */
if (scan_rate >= 1 && scan_rate <= 60)
targs.motor_scan_rate = scan_rate;
targs.motor_scan_rate = scan_rate;
else
targs.motor_scan_rate = SCAN_RATE;
targs.motor_scan_rate = SCAN_RATE;
/*
* Allocate space for motor_state structures. Note this must be done
* before MM4000Config is called, so it cannot be done in motor_init()
* This means that we must allocate space for a card without knowing
* if it really exists, which is not a serious problem
*/
/*
* Allocate space for motor_state structures. Note this must be done
* before MM4000Config is called, so it cannot be done in motor_init()
* This means that we must allocate space for a card without knowing
* if it really exists, which is not a serious problem
*/
motor_state = (struct controller **) malloc(MM4000_num_cards *
sizeof(struct controller *));
sizeof(struct controller *));
for (itera = 0; itera < MM4000_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
@@ -589,8 +589,8 @@ MM4000Setup(int num_cards, /* maximum number of controllers in system. */
/*****************************************************/
RTN_STATUS
MM4000Config(int card, /* card being configured */
const char *name, /* asyn port name */
int addr) /* asyn address (GPIB) */
const char *name, /* asyn port name */
int addr) /* asyn address (GPIB) */
{
struct MMcontroller *cntrl;
@@ -630,136 +630,137 @@ static int motor_init()
/* Check for setup */
if (MM4000_num_cards <= 0)
return(ERROR);
return(ERROR);
for (card_index = 0; card_index < MM4000_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
brdptr->cmnd_response = false;
total_cards = card_index + 1;
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
brdptr = motor_state[card_index];
brdptr->cmnd_response = false;
total_cards = card_index + 1;
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port,
cntrl->asyn_address, &cntrl->pasynUser, NULL);
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port,
cntrl->asyn_address, &cntrl->pasynUser, NULL);
if (success_rtn == asynSuccess)
{
int retry = 0;
if (success_rtn == asynSuccess)
{
int retry = 0;
/* Send a message to the board, see if it exists */
/* flush any junk at input port - should not be any data available */
/* Send a message to the board, see if it exists */
/* flush any junk at input port - should not be any data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
do
{
send_mess(card_index, READ_POSITION, (char) NULL);
status = recv_mess(card_index, axis_pos, 1);
retry++;
/* Return value is length of response string */
} while(status == 0 && retry < 3);
}
if (success_rtn == asynSuccess && status > 0)
{
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
send_mess(card_index, STOP_ALL, (char) NULL); /* Stop all motors */
send_mess(card_index, GET_IDENT, (char) NULL); /* Read controller ID string */
recv_mess(card_index, buff, 1);
strcpy(brdptr->ident, &buff[2]); /* Skip "VE" */
/* Set Motion Master model indicator. */
pos_ptr = strstr(brdptr->ident, "MM");
if (pos_ptr == NULL)
{
errlogPrintf("drvMM4000.c:motor_init() - invalid model = %s\n", brdptr->ident);
motor_state[card_index] = (struct controller *) NULL;
continue;
}
model_num = atoi(pos_ptr + 2);
if (model_num == 4000)
cntrl->model = MM4000;
else if (model_num == 4005 || model_num == 4006)
cntrl->model = MM4005;
else
{
errlogPrintf("drvMM4000.c:motor_init() - invalid model = %s\n", brdptr->ident);
motor_state[card_index] = (struct controller *) NULL;
continue;
do
{
send_mess(card_index, READ_POSITION, (char) NULL);
status = recv_mess(card_index, axis_pos, 1);
retry++;
/* Return value is length of response string */
} while (status == 0 && retry < 3);
}
send_mess(card_index, READ_POSITION, (char) NULL);
recv_mess(card_index, axis_pos, 1);
/* The return string will tell us how many axes this controller has */
for (total_axis = 0, tok_save = NULL, pos_ptr = epicsStrtok_r(axis_pos, ",", &tok_save);
pos_ptr != 0; pos_ptr = epicsStrtok_r(NULL, ",", &tok_save), total_axis++)
brdptr->motor_info[total_axis].motor_motion = NULL;
brdptr->total_axis = total_axis;
start_status(card_index);
for (motor_index = 0; motor_index < total_axis; motor_index++)
if (success_rtn == asynSuccess && status > 0)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
int loop_state;
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
send_mess(card_index, STOP_ALL, (char) NULL); /* Stop all motors */
send_mess(card_index, GET_IDENT, (char) NULL); /* Read controller ID string */
recv_mess(card_index, buff, 1);
strcpy(brdptr->ident, &buff[2]); /* Skip "VE" */
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
/* Set Motion Master model indicator. */
pos_ptr = strstr(brdptr->ident, "MM");
if (pos_ptr == NULL)
{
errlogPrintf("drvMM4000.c:motor_init() - invalid model = %s\n", brdptr->ident);
motor_state[card_index] = (struct controller *) NULL;
continue;
}
model_num = atoi(pos_ptr + 2);
if (model_num == 4000)
cntrl->model = MM4000;
else if (model_num == 4005 || model_num == 4006)
cntrl->model = MM4005;
else
{
errlogPrintf("drvMM4000.c:motor_init() - invalid model = %s\n", brdptr->ident);
motor_state[card_index] = (struct controller *) NULL;
continue;
}
send_mess(card_index, READ_POSITION, (char) NULL);
recv_mess(card_index, axis_pos, 1);
/* The return string will tell us how many axes this controller has */
for (total_axis = 0, tok_save = NULL, pos_ptr = epicsStrtok_r(axis_pos, ",", &tok_save);
pos_ptr != 0; pos_ptr = epicsStrtok_r(NULL, ",", &tok_save), total_axis++)
brdptr->motor_info[total_axis].motor_motion = NULL;
brdptr->total_axis = total_axis;
start_status(card_index);
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
int loop_state;
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
motor_info->status.Bits.GAIN_SUPPORT = 1;
/* Determine if encoder present based on open/closed loop mode. */
sprintf(buff, "%dTC", motor_index + 1);
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
loop_state = atoi(&buff[3]); /* Skip first 3 characters */
if (loop_state != 0)
{
sprintf(buff, "%dTC", motor_index + 1);
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
loop_state = atoi(&buff[3]); /* Skip first 3 characters */
if (loop_state != 0)
{
motor_info->encoder_present = YES;
motor_info->status.Bits.EA_PRESENT = 1;
motor_info->pid_present = YES;
motor_info->status.Bits.GAIN_SUPPORT = 1;
}
motor_info->status.Bits.EA_PRESENT = 1;
motor_info->pid_present = YES;
}
/* Determine drive resolution. */
sprintf(buff, "%dTU", motor_index + 1);
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
cntrl->drive_resolution[motor_index] = atof(&buff[3]);
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
cntrl->drive_resolution[motor_index] = atof(&buff[3]);
digits = (int) -log10(cntrl->drive_resolution[motor_index]) + 2;
if (digits < 1)
digits = 1;
cntrl->res_decpts[motor_index] = digits;
digits = (int) -log10(cntrl->drive_resolution[motor_index]) + 2;
if (digits < 1)
digits = 1;
cntrl->res_decpts[motor_index] = digits;
/* Save home preset position. */
/* Save home preset position. */
sprintf(buff, "%dXH", motor_index + 1);
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
cntrl->home_preset[motor_index] = atof(&buff[3]);
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
cntrl->home_preset[motor_index] = atof(&buff[3]);
/* Determine low limit */
sprintf(buff, "%dTL", motor_index + 1);
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
motor_info->low_limit = atof(&buff[3]);
/* Determine high limit */
sprintf(buff, "%dTR", motor_index + 1);
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
motor_info->high_limit = atof(&buff[3]);
set_status(card_index, motor_index); /* Read status of each motor */
set_status(card_index, motor_index); /* Read status of each motor */
}
}
}
else
motor_state[card_index] = (struct controller *) NULL;
else
motor_state[card_index] = (struct controller *) NULL;
}
any_motor_in_motion = 0;