lin-epics-modules/motorBase
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- retry on initial communication.

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- using asyn R4.1 set[Out/In]putEos().
- make debug variables always available.
- MS Visual C compatibility; make all epicsExportAddress
  extern "C" linkage.
This commit is contained in:
Ron Sluiter
2004-12-21 16:51:17 +00:00
parent bf293c85c2
commit e71927c3f5
1 changed files with 32 additions and 15 deletions
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motorApp/NewportSrc/drvESP300.cc
+32 -15
View File
@@ -2,9 +2,9 @@
FILENAME... drvESP300.cc
USAGE... Motor record driver level support for Newport ESP300.
Version: $Revision: 1.16 $
Modified By: $Author: rivers $
Last Modified: $Date: 2004-11-10 05:27:28 $
Version: $Revision: 1.17 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-12-21 16:51:17 $
*/
/*
@@ -42,6 +42,11 @@ Last Modified: $Date: 2004-11-10 05:27:28 $
* .05 07/09/04 rls removed unused <driver>Setup() argument.
* .06 07/28/04 rls "epicsExport" debug variable.
* .07 09/21/04 rls support for 32axes/controller.
* .08 12/21/04 rls - retry on initial communication.
* - using asyn's set[Out/In]putEos().
* - make debug variables always available.
* - MS Visual C compatibility; make all epicsExportAddress
* extern "C" linkage.
*/
@@ -67,15 +72,15 @@ Last Modified: $Date: 2004-11-10 05:27:28 $
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int drvESP300debug = 0;
#define Debug(l, f, args...) { if(l<=drvESP300debug) printf(f,## args); }
epicsExportAddress(int, drvESP300debug);
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvESP300debug = 0;
extern "C" {epicsExportAddress(int, drvESP300debug);}
int ESP300_num_cards = 0;
@@ -129,7 +134,7 @@ struct
#endif
} drvESP300 = {2, report, init};
epicsExportAddress(drvet, drvESP300);
extern "C" {epicsExportAddress(drvet, drvESP300);}
static struct thread_args targs = {SCAN_RATE, &ESP300_access};
@@ -203,7 +208,7 @@ static int set_status(int card, int signal)
int rtn_state, charcnt;
long mstatus;
double motorData;
bool power, done, plusdir, ls_active = false;
bool power, plusdir, ls_active = false;
msta_field status;
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
@@ -214,7 +219,8 @@ static int set_status(int card, int signal)
sprintf(outbuff, "%.2dMD", signal + 1);
send_mess(card, outbuff, (char) NULL);
charcnt = recv_mess(card, inbuff, 1);
if (charcnt == 3)
if (charcnt == 1 && (inbuff[0] == '0' || inbuff[0] == '1'))
{
cntrl->status = NORMAL;
status.Bits.CNTRL_COMM_ERR = 0;
@@ -237,8 +243,7 @@ static int set_status(int card, int signal)
}
}
done = atoi(inbuff) ? true : false;
status.Bits.RA_DONE = (done == true) ? 1 : 0;
status.Bits.RA_DONE = (inbuff[0] == '1') ? 1 : 0;
/* Get motor position. */
sprintf(outbuff, READ_POSITION, signal + 1);
@@ -551,6 +556,8 @@ static int motor_init()
int total_axis = 0;
int status;
asynStatus success_rtn;
static const char output_terminator[] = "\r";
static const char input_terminator[] = "\r\n";
initialized = true; /* Indicate that driver is initialized. */
@@ -569,18 +576,28 @@ static int motor_init()
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port,
cntrl->asyn_address, &cntrl->pasynUser, NULL);
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port,
cntrl->asyn_address, &cntrl->pasynUser, NULL);
pasynOctetSyncIO->setOutputEos(cntrl->pasynUser, output_terminator,
strlen(output_terminator));
pasynOctetSyncIO->setInputEos(cntrl->pasynUser, input_terminator,
strlen(input_terminator));
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 */
pasynOctetSyncIO->flush(cntrl->pasynUser);
send_mess(card_index, GET_IDENT, (char) NULL);
status = recv_mess(card_index, buff, 1);
/* Return value is length of response string */
do
{
send_mess(card_index, GET_IDENT, (char) NULL);
status = recv_mess(card_index, buff, 1);
retry++;
/* Return value is length of response string */
} while (status == 0 && retry < 3);
}
if (success_rtn == asynSuccess && status > 0)