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Reformmated; tabs -> spaces.

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This commit is contained in:
Ron Sluiter
2008-07-07 15:52:58 +00:00
parent 4ae54f097c
commit ed83fe385a
1 changed files with 165 additions and 165 deletions
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motorApp/NewportSrc/devMM4000.cc
+165 -165
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@@ -2,9 +2,9 @@
FILENAME... devMM4000.cc
USAGE... Motor record device level support for Newport MM4000.
Version: $Revision: 1.4 $
Version: $Revision: 1.5 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-03-14 20:17:14 $
Last Modified: $Date: 2008-07-07 15:52:58 $
*/
/*
@@ -81,28 +81,28 @@ extern "C" {epicsExportAddress(dset,devMM4000);}
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types MM4000_table[] = {
MOTION, /* MOVE_ABS */
MOTION, /* MOVE_REL */
MOTION, /* HOME_FOR */
MOTION, /* HOME_REV */
IMMEDIATE, /* LOAD_POS */
IMMEDIATE, /* SET_VEL_BASE */
IMMEDIATE, /* SET_VELOCITY */
IMMEDIATE, /* SET_ACCEL */
IMMEDIATE, /* GO */
IMMEDIATE, /* SET_ENC_RATIO */
INFO, /* GET_INFO */
MOVE_TERM, /* STOP_AXIS */
VELOCITY, /* JOG */
IMMEDIATE, /* SET_PGAIN */
IMMEDIATE, /* SET_IGAIN */
IMMEDIATE, /* SET_DGAIN */
IMMEDIATE, /* ENABLE_TORQUE */
IMMEDIATE, /* DISABL_TORQUE */
IMMEDIATE, /* PRIMITIVE */
IMMEDIATE, /* SET_HIGH_LIMIT */
IMMEDIATE, /* SET_LOW_LIMIT */
VELOCITY /* JOG_VELOCITY */
MOTION, /* MOVE_ABS */
MOTION, /* MOVE_REL */
MOTION, /* HOME_FOR */
MOTION, /* HOME_REV */
IMMEDIATE, /* LOAD_POS */
IMMEDIATE, /* SET_VEL_BASE */
IMMEDIATE, /* SET_VELOCITY */
IMMEDIATE, /* SET_ACCEL */
IMMEDIATE, /* GO */
IMMEDIATE, /* SET_ENC_RATIO */
INFO, /* GET_INFO */
MOVE_TERM, /* STOP_AXIS */
VELOCITY, /* JOG */
IMMEDIATE, /* SET_PGAIN */
IMMEDIATE, /* SET_IGAIN */
IMMEDIATE, /* SET_DGAIN */
IMMEDIATE, /* ENABLE_TORQUE */
IMMEDIATE, /* DISABL_TORQUE */
IMMEDIATE, /* PRIMITIVE */
IMMEDIATE, /* SET_HIGH_LIMIT */
IMMEDIATE, /* SET_LOW_LIMIT */
VELOCITY /* JOG_VELOCITY */
};
@@ -119,8 +119,8 @@ STATIC long MM4000_init(void *arg)
if (after == 0)
{
drvtabptr = &MM4000_access;
(drvtabptr->init)();
drvtabptr = &MM4000_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MM4000_cards);
@@ -175,171 +175,171 @@ STATIC RTN_STATUS MM4000_build_trans(motor_cmnd command, double *parms, struct m
axis = motor_call->signal + 1;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
return(rtnval = ERROR);
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
cntrl_units = dval * cntrl->drive_resolution[axis - 1];
maxdigits = cntrl->res_decpts[axis - 1];
if (MM4000_table[command] > motor_call->type)
motor_call->type = MM4000_table[command];
motor_call->type = MM4000_table[command];
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcat(motor_call->message, mr->init);
strcat(motor_call->message, "\r");
strcat(motor_call->message, mr->init);
strcat(motor_call->message, "\r");
}
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
strcat(motor_call->message, mr->prem);
strcat(motor_call->message, ";");
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
strcat(motor_call->message, mr->prem);
strcat(motor_call->message, ";");
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(buff, "%dPA%.*f;", axis, maxdigits, cntrl_units);
break;
case MOVE_REL:
sprintf(buff, "%dPR%.*f;", axis, maxdigits, cntrl_units);
break;
case HOME_FOR:
case HOME_REV:
sprintf(buff, "%dOR;", axis);
break;
case LOAD_POS:
if (cntrl->model == MM4000)
sprintf(buff, "%dSH%.*f;%dDH;%dSH%.*f", axis, maxdigits, cntrl_units,
axis, axis, maxdigits, cntrl->home_preset[axis - 1]);
break;
case SET_VEL_BASE:
break; /* MM4000 does not use base velocity */
case SET_VELOCITY:
sprintf(buff, "%dVA%.*f;", axis, maxdigits, cntrl_units);
break;
case SET_ACCEL:
/*
* The value passed is in steps/sec/sec.
* Convert to user units/sec/sec
*/
sprintf(buff, "%dAC%.*f;", axis, maxdigits, cntrl_units);
break;
case GO:
/*
* The MM4000 starts moving immediately on move commands, GO command
* does nothing
*/
break;
case SET_ENC_RATIO:
/*
* The MM4000 does not have the concept of encoder ratio, ignore this
* command
*/
break;
case GET_INFO:
/* These commands are not actually done by sending a message, but
rather they will indirectly cause the driver to read the status
of all motors */
break;
case STOP_AXIS:
sprintf(buff, "%dST;", axis);
break;
case JOG:
/*
* MM4000 does not have a jog command. Simulate with move absolute
* to the appropriate software limit. We can move to MM4000 soft limits.
* If the record soft limits are set tighter than the MM4000 limits
* the record will prevent JOG motion beyond its soft limits
*/
sprintf(buff, "%dVA%.*f;", axis, maxdigits, fabs(cntrl_units));
strcat(motor_call->message, buff);
if (dval > 0.)
sprintf(buff, "%dPA%.*f;", axis, maxdigits, mr->dhlm);
else
sprintf(buff, "%dPA%.*f;", axis, maxdigits, mr->dllm);
break;
case SET_PGAIN:
sprintf(buff, "%dKP%f;%dUF;", axis, dval, axis);
break;
case SET_IGAIN:
sprintf(buff, "%dKI%f;%dUF;", axis, dval, axis);
break;
case SET_DGAIN:
sprintf(buff, "%dKD%f;%dUF;", axis, dval, axis);
break;
case ENABLE_TORQUE:
sprintf(buff, "MO;");
break;
case DISABL_TORQUE:
sprintf(buff, "MF;");
break;
case SET_HIGH_LIMIT:
motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis - 1];
trans->state = IDLE_STATE; /* No command sent to the controller. */
case MOVE_ABS:
sprintf(buff, "%dPA%.*f;", axis, maxdigits, cntrl_units);
break;
if (cntrl_units > motor_info->high_limit)
{
mr->dhlm = motor_info->high_limit;
rtnval = ERROR;
}
break;
case SET_LOW_LIMIT:
motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis - 1];
trans->state = IDLE_STATE; /* No command sent to the controller. */
case MOVE_REL:
sprintf(buff, "%dPR%.*f;", axis, maxdigits, cntrl_units);
break;
if (cntrl_units < motor_info->low_limit)
{
mr->dllm = motor_info->low_limit;
rtnval = ERROR;
}
break;
default:
rtnval = ERROR;
case HOME_FOR:
case HOME_REV:
sprintf(buff, "%dOR;", axis);
break;
case LOAD_POS:
if (cntrl->model == MM4000)
sprintf(buff, "%dSH%.*f;%dDH;%dSH%.*f", axis, maxdigits, cntrl_units,
axis, axis, maxdigits, cntrl->home_preset[axis - 1]);
break;
case SET_VEL_BASE:
break; /* MM4000 does not use base velocity */
case SET_VELOCITY:
sprintf(buff, "%dVA%.*f;", axis, maxdigits, cntrl_units);
break;
case SET_ACCEL:
/*
* The value passed is in steps/sec/sec.
* Convert to user units/sec/sec
*/
sprintf(buff, "%dAC%.*f;", axis, maxdigits, cntrl_units);
break;
case GO:
/*
* The MM4000 starts moving immediately on move commands, GO command
* does nothing
*/
break;
case SET_ENC_RATIO:
/*
* The MM4000 does not have the concept of encoder ratio, ignore this
* command
*/
break;
case GET_INFO:
/* These commands are not actually done by sending a message, but
rather they will indirectly cause the driver to read the status
of all motors */
break;
case STOP_AXIS:
sprintf(buff, "%dST;", axis);
break;
case JOG:
/*
* MM4000 does not have a jog command. Simulate with move absolute
* to the appropriate software limit. We can move to MM4000 soft limits.
* If the record soft limits are set tighter than the MM4000 limits
* the record will prevent JOG motion beyond its soft limits
*/
sprintf(buff, "%dVA%.*f;", axis, maxdigits, fabs(cntrl_units));
strcat(motor_call->message, buff);
if (dval > 0.)
sprintf(buff, "%dPA%.*f;", axis, maxdigits, mr->dhlm);
else
sprintf(buff, "%dPA%.*f;", axis, maxdigits, mr->dllm);
break;
case SET_PGAIN:
sprintf(buff, "%dKP%f;%dUF;", axis, dval, axis);
break;
case SET_IGAIN:
sprintf(buff, "%dKI%f;%dUF;", axis, dval, axis);
break;
case SET_DGAIN:
sprintf(buff, "%dKD%f;%dUF;", axis, dval, axis);
break;
case ENABLE_TORQUE:
sprintf(buff, "MO;");
break;
case DISABL_TORQUE:
sprintf(buff, "MF;");
break;
case SET_HIGH_LIMIT:
motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis - 1];
trans->state = IDLE_STATE; /* No command sent to the controller. */
if (cntrl_units > motor_info->high_limit)
{
mr->dhlm = motor_info->high_limit;
rtnval = ERROR;
}
break;
case SET_LOW_LIMIT:
motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis - 1];
trans->state = IDLE_STATE; /* No command sent to the controller. */
if (cntrl_units < motor_info->low_limit)
{
mr->dllm = motor_info->low_limit;
rtnval = ERROR;
}
break;
default:
rtnval = ERROR;
}
size = strlen(buff);
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
errlogMessage("MM4000_build_trans(): buffer overflow.\n");
errlogMessage("MM4000_build_trans(): buffer overflow.\n");
else
strcat(motor_call->message, buff);
strcat(motor_call->message, buff);
return(rtnval);
}